Simple/noserver proxy for IPs on a local network

I have a bunch of VMs running on my network and have a WireGuard server acting as a gateway into my network. Each VM has a unique IP and I'd like to forward TCP/UDP traffic to them from the wg server.

UDP PORT 3000 -> 192.168.1.3:3000
TCP PORT 3000 -> 192.168.1.3:3000

UDP PORT 4453 -> 192.168.1.3:445
TCP PORT 4453 -> 192.168.1.3:445

TCP PORT 2203 -> 192.168.1.3:22
TCP PORT 2204 -> 192.168.1.4:22
// etc

From what I can tell, chisel requires a chisel server running on the destination in order for the client to forward traffic from it.

Does Chisel have the capability to "simply" forward traffic to local IP/ports without needing chisel server running at the destination?

chisel forward --protocol UDP --target 192.168.1.3:3000 --listen 0.0.0.0:3000
chisel forward --udp -t 192.168.1.3:3000 -l 0.0.0.0:3000

From there I can create a bash script that maps all the ports appropriately

Start by reviewing the existing chisel client/server forwarding behavior and the proposed chisel forward commands. Determine whether forwarding TCP and UDP traffic to local IP:port targets without a destination chisel server is supported; done would be a clear capability answer or an agreed implementation scope for the mappings shown.