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I realised I forgot to update this. Thank you to everyone that contributed, I appreciate it. This was a weird use case and barely anyone online has documented it, only a handful of places. Nevertheless, I figured it out.
So basically, you run HAProxy with the send-proxy-v2 protocol. Let’s say I’m forwarding SSH from VPS to home, I’d have the VPS running HAProxy listening on port 22. Then I’d have it forward to home on port 220. Then, on the home server, you run this amazing piece of software called go-mmproxy. Configure that to listen on port 220 and forward to localhost 22. And there you have it.
HAProxy passes the real source IP to go-mmproxy with the proxy protocol, go-mmproxy takes the proxy header and strips it from the request, spoofs the source IP address from localhost to the real source IP contained in the proxy header then makes the request to localhost. And then you also have to configure traffic to go back through localhost so go-mmproxy can pick it up and add the proxy header back to the request, to be sent back to the source.