On-Premise SAP connection with On-Premise Mendix setup

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What is the best practice to connect from the Mendix On-premise setup to an on-premise SAP setup? Is there something like an on-premise gateway available, which establishes a secure tunnel? Can SAP OData Connector be used in this case where both my systems are on-premise?  I am using Mendix Studio Pro Version 8.17.0 and SAP ERP ECC 6 and EHP 4.
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