Don't worry, you only have to do this once per client machine.
Host *.trycloudflare.com HostName %h User root Port 22 ProxyCommand <PUT_THE_ABSOLUTE_CLOUDFLARE_PATH_HERE> access ssh --hostname %h
To connect using your terminal, type this command:
ssh {domain}
You can also connect with VSCode Remote SSH (Ctrl+Shift+P and type "Connect to Host..."). Then, paste the following hostname in the opened command palette:
{domain}