Expose Vault Sidecar/Vault Agent injector metrics to Prometheus


I’m using:
K8s Rev: v1.24.12

Vault installed via GitHub - hashicorp/vault-helm: Helm chart to install Vault and other associated components.

The question is:
Is it a way to expose metrics port form Vault Sidecar Agent/Vault Agent injector to Prometheus?
We do not have prom operator. Just using scraping.