tcptunnel works great and it's very simple
https://github.com/vakuum/tcptunnel

Usage: tcptunnel [options]

Options:
  --version
  --help

  --local-port=PORT    local port
  --remote-port=PORT   remote port
  --remote-host=HOST   remote host
  --bind-address=IP    bind address
  --client-address=IP  only accept connections from this IP address
  --buffer-size=BYTES  buffer size
  --fork               fork-based concurrency
  --log
  --stay-alive