It's available to use action letting set up SSH session with GitHub agent in your workflows. The detailed documentation with the examples of use can be found in the official repository.
The action setting SSH session can be easily plugged in your workflow with the example below:
- name: Setup tmate session
uses: mxschmitt/action-tmate@v3
When the action is plugged in the workflow log (the part corresponding to tmate action log) can be found the URL. By the URL you can access the terminal of your host.
There are also some ways to setup action behavior. E.g., the default behavior of the action is to remain SSH session open until the workflow times out. It's available to setup timeout parameter yourself.