Add an onprem worker node to AWS OCP Cluster

I have Installed OpenShift on AWS with installer-provisioned infrastructure which comes with default 3 worker nodes.

my question:
Is it possible to add a worker node that is outside of AWS i.e. a system that is OnPrem, If so what are the steps?

I believe it is possible to add worker nodes to a cluster installed on bare metal with user-provisioned infrastructure.

Thank you!