More modern day SaaS first tools do not have on-prem option instead they have an on-prem agent model that executes tasks and responds back to the main SaaS platform.
Airplane [1] with is similar platform like this. In security space there is Wiz [2]. At Adaptive [3] that is in access management platform, where I work. We do the same too. Agent communicating over established tunnel works without any org configuration changes.