Or you can use Ansible-pull.
https://docs.ansible.com/ansible/latest/cli/ansible-pull.htm...
https://docs.ansible.com/ansible/latest/cli/ansible-pull.htm...
so at this point both ansible and salt can go both directions, and i do infact myself make use of that. i use pull/minions on all servers in our network, and push to those servers outside our network, because they can't reach the master behind the firewall.
although zerotier has helped solve that problem, so i'll probably be able to stop using salt-ssh soon