Can I skip dealing with certificates?

I’m trying to setup haproxy on one server to connect to ocserv vpn on another server. The problem is the ssl handshake between the two servers.
Can I just not deal with ssl? I couldn’t make it work.

I don’t want to have a domain set up for any of the if possible.
I appreciate any help.

PS. the idea is to bypass the internet restrictions by connecting from another IP to the VPN.