Newer OpenSSH has a netcat mode built-in http://blog.rootshell.be/2010/03/08/openssh-new-feature-netc...
Host ruapehu
HostName ruapehu.example.com
Host aoraki
ProxyCommand ssh -W %h:%p ruapehu
Host tongariro
ProxyCommand ssh -W %h:%p aoraki* the other advantage is "not forwarding the agent" which is more secure
* using control socket can be annoying because of the way it closes / is opened in certain conditions
* ssh -W saves a nc command
* the % hack does not work in all conditions, only for simple constructs
It would be nice to have this stuff just work native in SSH to avoid all the issues, and more reliable control socket release.
i've been using a script adding the entries to .ssh/config for many years and enable control socket manually when i know i want it, but all this is quite cumbersome, even if its still better and less annoying than ssh -A.