It is possible to use SSL / TLS without encryption using cipher suites with zero encryption (for example, TLS_RSA_WITH_NULL_SHA ), which are disabled by default, but can be set using the ciphers option for Stunnel. However, you will still use SSL / TLS, which you do not seem to be looking for.
It looks like you're basically looking for what is commonly called TCP bouncer. You have to find many implementations.
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