I think glider can do this, with -strategy rr
(Round Robin mode). I have not used it in this way myself, so you might need to experiment a little. Proxychains can also do this, but it doesn’t present a socks5 interface itself (it uses LD_PRELOAD
, so it won’t work everywhere).
You can give chisel a try. It tunnels all traffic over http/https, and the client can then create port forwards, just as with ssh, to access other services.