IIUC this kind of thing is usually called “managed deployment.” Minio used to have a slick implementation of this, and I think databricks does as well. Usually it’s less “execute arbitrary commands on customer hosts,” and more “send metrics and logs to shared repository and send RPCs to customer deployment”
It's heavily inspired by Databricks' deployment model. And you're right that it's not "execute arbitrary commands". Commands are predefined functions in the deployed code that the developer defines upfront and customers can review.
The metrics/logs part is also core to Alien... telemetry flows back to the vendor's control plane so you actually have visibility into what's running.