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You can try (self promo) https://github.com/ezyang/codemcp . https://github.com/rusiaaman/wcgw is also quite popular, although they allow unrestricted shell access (that's why it's named wcgw lol).

Thanks! Does codemcp support having the server on another machine? Maybe communicate over ssh?

Not built in, you'll have to use something like https://github.com/sparfenyuk/mcp-proxy