Nagios to automatically send Google Authentication verification code

At the moment, my workplace's Nagios server is configured to SSH into host machines and then execute bash scripts on those host machines. The customer now requires us to setup MFA for SSH sessions. I have successfully tested MFA using Google Authenticator by following this article: https://www.linode.com/docs/guides/how-to-use-one-time-passwords-for-two-factor-authentication-with-ssh-on-centos/ . With MFA setup though, it will mean our Nagios server can no longer SSH into the host machines. I am wondering is there a way to configure the Nagios server to send verification codes automatically?