SSH Tunnel - Performant alternatives for exposing a local port to remote machines?

I have Server A running at home in a Carrier-Grade NAT environment. Due to this I cannot open a port directly in my router. I also have Server B on a cloud hosting provider, which has a static public IP address that can have ports opened to. Both machines run Ubuntu linux.

So far the best solution for me was SSH Tunneling, but it comes with a performance drawback known as TCP-over-TCP.

I have tried several solutions and each one of them had some problems:

1. OpenVPN/Wireguard: I do not want to route Server A's entire traffic to a remote server, only expose a few ports (while keeping them accessible from the LAN, too)
2. ngrok: Centralised service, has several limitations (like max connections, etc)
3. LocalTunnel: HTTP(S) only. I want to forward TCP traffic.
4. SSH Tunnel: discussed above
5. Most other solutions: Centralised (non-selfhostable) or HTTP(S) only

I also need the original IP address of the client accessing the port through Server B to be visible to Server A. What software should I try?