A design question immediately comes up that "should you use a third party jump server you don't trust?"
I'm assuming the following:
2 customers have a server poking into each of their networks, connected via vpn, private line, or otherwise.
Assuming this "insecure" server can't be trusted, but you decide to use it anyway (not recommended) to transport or handle ssh traffic between the two clients, you could do the following:
Create a port forwarding rule in iptables (assuming this is a linux box such as centos). If you don't want the middle server to take part in SSH negotiation (i.e. SSH tunnelling, or just ssh'ing to the middle server, then jumping to target), then you need to have the middle server forward your SSH packets direct to target.
It sounds like the described purpose of this server is to provide routing between the networks. If so you need a forwarding rule to accomplish. You could ideally have the middle server forward packets to its local gateway (router or firewall) and if it has a path to the destination SSH server, should forward the packet. The middle server does nothing but forward packets, and doesn't see the data traversing it.
This requires knowing the source subnet or Individual IPs sending SSH requests, and the target subnets.
See the following link on implementation:
https://askubuntu.com/questions/227369/how-can-i-set-my-linux-box-as-a-router-to-forward-ip-packets
Hope this helps,