There are plenty of ways to do what you're describing, and they all work with TCP. Some of them only work if the encapsulated traffic is IPv6 (and a designed to give IPv6 access on ISPs that only support IPv4). Some of them may end up buffering the TCP stream and potentially generating packet boundaries at different locations than in the original TCP stream.

[0] https://en.wikipedia.org/wiki/Generic_Routing_Encapsulation

[1] https://en.wikipedia.org/wiki/Teredo_tunneling

[2] https://en.wikipedia.org/wiki/6to4

[3] Any of the various https://en.wikipedia.org/wiki/Virtual_private_network technologies (WireGuard, IPSec, SOCKS TLS proxies, etc.)

[3] As you mention, a Tor SOCKS proxy