Access to multiple nodes includes an overlay network with service discovery .
See dockers / networks :
An overlay network requires a keystore . The store stores network status information, which includes discovery, networks, endpoints, IP addresses, etc.
The Docker Engine currently supports Consul, etcd, ZooKeeper (Distributed store) key store stores, and BoltDB (Local store) key store stores.
This example uses Consul.

If your nodes (other computers on the same network) launch their docker daemon with a link to this keystore, they will be able to communicate with containers from other nodes.
DOCKER_OPTS="-H tcp://0.0.0.0:2375 -H unix:///var/run/docker.sock --cluster-store=consul://<NODE-0-PRIVATE-IP>:8500/network --cluster-advertise=eth0:2375"
You just need to create an overlay network:
docker network create -d overlay --subnet=10.10.10.0/24 RED
(it will be available on all computers due to the storage of key values)
And run your containers on this network:
docker run -itd --name container1 --net RED busybox
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