Hello gjoshi,
Although the Monks seems that they have provided you with many solutions, I would like to add a few references where you can get some information with samples of code, for easier implementation.
I had the same problem with you some time ago and I found the most common name is ssh multi hop, when describing what you are trying to achieve. So ref1 Transparent Multi-hop SSH and ref2 SSH Port Forwarding Through Multiple Hops (.ssh/config).
Update: I found also another link that also contains a Perl script that I assume does exactly what you want. Ref3 ssh tunnel via multiple hops.
Hope this helps.
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