Related thread from 2016 - https://news.ycombinator.com/item?id=12957371

Hey, just finished this,https://github.com/aspectrr/lily, but it's a simple way for agents to safely access hosts.

It's a tool I want for agents to help with debugging and something i've seen many other attempts at that don't have the right security model. Often installing a binary on the host which is non-starter in pretty much any serious company.