I think the answer is yes. A response from a remote system (or lack of) is a signal. The conventional ssh protocol method when connecting to a server is to instantly send over the identification string. RFC 4253 requires "both sides MUST send an identification string". It doesn't necessarily decide an order, but most ssh implementations I've seen send their protocol string before any other data has been received.

The broadcasting of the versioning information does constitute a potential leakage of information that could be useful to an attacker. Even if we contrast this to something like mTLS, the client certificate doesn't come until fairly late in the handshake, so there is still information that can be cleaned from the ServerHello from an unauthenticated inspector. This is also the case with QUIC since it piggybacks off the general TLS handshake.

I think the issue is, for a known set of systems, can you create communications between them that are oblivious/non-discoverable to non-authorized systems. I think the answer is yes, but it requires an out-of-band key agreement protocol. Wireguard is an example. However, the problem of out-of-band key agreement can't really be ignored.

I think the article's method is somewhat valid. I also think it is non-ideal for only doing source IP based rulesets, especially in the world of IPv4 and NAT being prevalent.