Hi Kris,
Since you have an On-Premise version,
You can do it in 2approaches
1. Using Azure LogicApps, you can connect directly to ON-Premise SQL using an Azure On Premise Data Gateway connector.
www.codit.eu/.../
Then use this data to integrate with CRM via Webservice or APIs
2. As Marco suggested, you need to first have a fixed Public IP and Domain configured with SSL connection to your On-Prem server.
Then expose the Webservices or APIs from Business Central and try if they can be accessed on any machines connected to internet.
www.cloudfronts.com/.../
Further, you can use Flows, Logic Apps or other integration tools such as Tibco Scribe to integrate your data to CRM.
https://www.olisterr.tech/2019/06/how-to-use-forms-flows-business-central.html?m=1
I hope this helps.
If you need more support from Microsoft then goto your Business Central Admin Center and raise support ticket from there.