Deploying Kubernetes cluster in a private subnet in a different AWS VPC

Here’s my use case -
Rancher server deployed in public subnet in AWS VPC 1
I need to deploy 3 node kubernetes cluster in AWS VPC 2 in a private subnet.

I need to use the option of provisioning the cluster using Rancher Server.

I am able to create EC2 nodes in private subnet. Private subnet has NAT associated with so that nodes are able to reach out to internet.

But it is not enough as Rancher server needs to be able to reach to these nodes.
I was thinking about using bastion host in the public subnet of VPC 2. But I am not sure how to make Rancher server work with bastion host or if this is even the option.

I need help on suggesting the right setup to make this configuration work.