Using an SSH config file

The same trick can be used by specifying the ProxyJump option in your SSH config file:

Host *
 IdentityFile ~/.ssh/id_ed25519
 Port 22

Host CentOS2-V4
 Hostname 192.168.33.11
 User vagrant

Host CentOS3-V4
 Hostname 192.168.33.12
 User vagrant
 ProxyJump CentOS2-V4

You can now SSH to centos3 via centos2:

[vagrant@centos1 ~]$ ssh CentOS3-V4
vagrant@192.168.33.11's password: 
vagrant@192.168.33.12's password: 
Last login: Thu Aug  9 14:15:03 2018 from 192.168.33.11
[vagrant@centos3 ~]$