Setup GitHub integration WITHOUT a public SonarQube URL

Version: SonarQube 9.9 LTS, SonarScanner for MSBuild 5.13
Deployed via: zip
I have setup SonarQube Community edition on a VM, which is accessible within the internal company network but not via a public URL. I want to analyze my .NET source code hosted on I have followed the instructions and setup a GitHub Action for the same as well. When a commit is made, the SonarQube scanner runs but fails with the following error.

Unable to connect to server. Please check if the server is running and if the address is correct. Url: '***/api/server/version'.

I assume this is because the Action runner environment (over which I do not have control) is unable to communicate with my SonarQube setup (which is only accessible on the internal network). I cannot expose my setup via a public URL. I was also looking at Jenkins integration, but I think I would face the same issue there.

Is there a way to make this work?

A self-hosted runner might help.