Add this to /usr/tor/torrc
HiddenServiceDir /var/lib/tor/sshd/
HiddenServicePort 22 127.0.0.1:22
Restart tor
sudo service tor restart
Onion hostname file for the ssh service should be created
sudo cat /var/lib/tor/sshd/hostname
Take note of the hostname
On the client:
Have tor browser running on the client.
Add this to ~/.ssh/config:
host hidden
hostname your_onion_hostname.onion
proxyCommand nc -x 127.0.0.1:9150 %h %p