Newbie question: is the cloud VM accessible to the programmer from outisde?

Hi guys

I am new to GitHub actions and I would like to know if it is possible to access the VM that runs the github actions in the cloud (hosted VM).
Is it feasible, advisable to attempt to keep the VM up during the tests so I can access my application for let say 1h do some testing and then shut it down (finish the github actions run ?)
Is this something that can be done with a free account ? Does this come with any limitations ?