Traccar integration

What I want to achieve:

I'm subscribed to Home Assistant Cloud, and I want better location history but integrated to Home Assistant.

What I've tried:

I've tried to setup the server integration, I have traccar running successfully, but I don't know how to reach traccar without exposing it to the internet too, is that even possible? I know there's a script that feeds a HA device's location to Traccar, but I would prefer to use the official integration if possible.

Questions

Can I avoid exposing Traccar server to the internet without using a VPN?