Enterprise Namespaces and DNS discovery across Kubernetes

Is there a way to make the Enterprise namespaces spread across physical servers and Kubernetes namespaces with DNS discovery?

The problem is that the Kubernetes services are usually behind an HA proxy (an ingress). So they do not have an external IP that could be resolved.
On the other way around the services within the Kubernetes namespaces would have to have a DNS deployed within their namespace. So the DNS can provide IP records related to the Consul namespace.

Is there a way to make it work with the DNS Interface ? Or the full serviceMesh needs to be deployed?