TCP liveness checks through Envoy

Is there a way for a service fronted by Envoy to be checked for liveness with a TCP connection? (Assuming the service cannot be reached directly without going through the proxy)

It seems that Envoy will accept any TCP connection, so the liveness check will always pass.

Envoy can set up active TCP checks for connection only as shown [here](https://www.envoyproxy.io/docs/envoy/latest/api-v2/api/v2/core/health_check.proto#core-healthcheck-tcphealthcheck). I would like that behavior but with an application on a different pod/node running the check.