If memory serves me correctly, SIC is only intended to connect to OS hosted cloud instances. The SIC establishes an outbound connection to a specific OS relay server/service.
If you installed OS on servers behind your firewall, you should not need SIC. If you installed OS in the cloud somewhere, then you can create a VPN tunnel from your cloud instance into your local network and whatever drivers you like on your OS servers. SIC was really to help get OS Cloud Services out of the business of helping standup/support VPN and custom drivers on behalf of their customers.