Integrate Azure Kubernetes cluster with on-premise Hashicorp vault?

Hello everyone.

Now this might sound as a stupid question but I am an absolute begineer with Hashicorp Vault and Azure Portal. I am testing an on-premise hashicorp vault installed on a hypervisor virtual machine. I was able to allow azure to auto unseal the vault using azure key vault. I created a service principal in azure and enabled azure secret engine in vault successfully.

Now I would like the on-premise hashicorp vault to send secrets to applications in azure kubernetes cluster. I checked these links:
Integrate a Kubernetes Cluster with an External Vault | Vault - HashiCorp Learn

Vault Agent with Kubernetes | Vault - HashiCorp Learn

I am not sure if these links apply to my scenario. The former link seems to be that all are on same machine and the latter presumes that Hashicorp vault is on Azure VM.

Is there a way for an on-premise hashicorp vault to send secrets to applications in Azure kubernetes cluster?