Have a look at this using socat:
https://github.com/QubesOS/qubes-issues/issues/2148
Although it's still marked as open, it works well and is used in Qubes
4.0.
socat TCP-LISTEN:444,fork EXEC:"qrexec-client-vm target-vm my-tcp-service"
does just what you want.
If you had my-tcp-service on target-vm:
socat STDIO TCP:localhost:22
You could 'ssh localhost:4444' and ssh in to target, even when target is not networked.
A little simple scripting and you can have this as a general listener to
connect to different services on targets.
unman