GCP: Connecting to instances
gcloud
You can use Identity-Aware Proxy (IAP) tunneling to avoid whitelisting your IP address or having to use a VPN. in order to use IAP, the project will need to have correct firewall rules set up:
https://cloud.google.com/iap/docs/using-tcp-forwarding
Then, if that's okay, you can just type in:
gcloud compute ssh <instance-name> --project <project-id> --zone <zone> --tunnel-through-iap