You are able to SSH into the Minikube virtual machine. As part of the installation, an SSH key was generated and shared with the virtual machine when it launched. You can check the location of this key by running minikube ssh-key. This returns the path of the private part of the key. You can use this in combination with other commands to SSH into your virtual machine by running the following on macOS or Ubuntu:
$ ssh docker@$(minikube ip) -i $(minikube ssh-key)
This generates the IP address of the virtual machine and path to the private key on-the-fly:
However, Minikube also has a command that will run this ...