Unable to use soap connection with private endpoint in application integration

Summary:

We are making an integration from PeopleSoft to Oracle HCM Cloud for the Job Family object, and we want to have an application integration that gets triggered when saving a Job Family in PeopleSoft. However since our PeopleSoft environment is private, we can't use the soap connection to it as a trigger for the application integration. And it would be best to use a soap connection instead of a rest connection since in PeopleSoft a rest operation cannot be used asynchronously, which is what we want. So is there a way to use the private soap connection in an application