Send a command during a new SSH session with some challenges?

The scenario I have is an SSH login through a Cyberark SSH server (acts as a jump-box/bastion). Sometimes Cyberark is very quick and gets me to my destination server in a second or two, or sometimes up to 8 seconds or more. I'd like to have the SSH connection to type in a command when it gets to the destination server command prompt.

I tried out the After Login typing with delay but then I have to set delay for a seemingly long time like 10 seconds to have it always work. If the command is sent earlier than cyberark being done then it doesn't run.
Is there some other way to do this that's able to detect the command prompt before sending a logon command, or maybe some general text anytime?