WebRTC Peer to Peer without STUN / TURN but with SSH

Question

Let's say I have access to a server via ssh and my own laptop. However, I wish to use webrtc to transmit data via a peer connection for it's ultra low latency over UDP. It's also crucial that I have NO communication between a STUN / TURN server.

If I already have access to both devices, can I then create the RTCPeerConnection.createOffer() from both devices and also provide the answer for both devices to set up the peer connection?

Or is this the wrong tool for the job perhaps? Open to other suggestions :)