There is a slight variant of a way described in the blog on how to use sshpass
which can be found here. Given that you have a gpg encrypted password (how ot do this is described in the blog) file you could do something like this:
sshpass -p $(echo $(gpg -d -q .sshpasswd.gpg)) ssh your_desination.xyz
and simply save that command as an alias in your .bashrc
.
If you want to tunnel through that connection you could do something like
Host actual_dest Hostname actual.dest.xyz User username ProxyCommand sshpass -p $(echo $(gpg -d -q ~/.sshpasswd.gpg)) \ ssh your_destination.xyz nc %h %p