Deploy Temporal Workers in AWS EKS in Private Subnet of VPC for use with Temporal Cloud

Is there a guide somewhere on how to link Temporal Cloud with resources contained in a private subnet of my AWS VPC? I want temporal activities to be able to access private s3 buckets and a private AWS Aurora instance. I have been told that the workers will be deployed in our own infrastructure, while the Temporal server and frontend ui will be hosted in Temporal Cloud. So where is the specific guide on deploying just the worker pods to AWS EKS (not deploying Temporal Server). Then, how does communication between the self-hosted worker pods and Temporal Cloud work?

Need help on this still.