With all the new Linux users coming from Windows, myself included, I've used a UNIX-like system as my firewall at home for a while now and always SSHed into it and then SSHed into another system behind it.
Today, for the first time ever, I used this firewall as a jump host; used -J to get to my other Linux system and I can't believe how easy it was, how well it worked, and why I haven't tried this in so long.
Linux and open source is so awesome; damn it feels good to be a gangsta.
TL;DR: Use -J to ssh directly to your other Linux machines behind a firewall.
Cheers.