You run a Tor Hidden Service with sshd on one device. Knowing the .onion address, the correct port and having the corresponding private key on the other device (all of that not really subject to change), you can run the Tor daemon on it (for Android, you can use Termux) and connect with ssh, using torify nc %h %p as ProxyCommand.
It's great when you want to connect two devices behind NAT without relying on any specific third-party server or service. I
sshto my laptop from my phone with it when away from it.It's also useful to circumvent censorship, though it depends on the country. Also, websites employing wide-range IP blocks, in my experience, more often than not still allow Tor.