To allow on-premises services access to Azure storage account, without exposing the storage account to the internet, you can:
VPN -> Azure Cloud + access public Azure services (without traversing the internet) = Private endpoint.
Resolve a FQDN to an IPv6 address with AAAA DNS record.
To ensure that only certain VMs in your Azure environment can resolve FQDNs to IPs in Azure-hosted DNS zone:

Ireland | Bobby Abuchi