Put your SSH key into your Jenkins profile, then use the declarative linter as follows:
ssh jenkins.hostname.here declarative-linter < Jenkinsfile
This will do a static analysis on your Jenkinsfile. In the editor of your choice, define a keyboard shortcut that runs that command automatically. In Visual Studio Code, which is what I use, go to Tasks > Configure Tasks, then use the following JSON to create a Validate Jenkinsfile command:
{
"version": "2.0.0",
"tasks": [
{
"label": "Validate Jenkinsfile",
"type": "shell",
"command": "ssh jenkins.hostname declarative-linter < ${file}"
}
]
}