Hi @Jignesh Vyas ,
As I understand from the question, this is another question similar to your previous question How to connect to Azure SQL Server using Azure P2S VPN client (Azure AD Authentication) where you now need information on Azure SQL Managed Instance access on Azure VM through private endpoint.
Kindly add in any information which we might have missed in understanding.
We have Configuring Private Endpoint Connections in Azure SQL Managed Instance which states how you may perform so.
Please check and follow and let us know if you are able to make it work.
If not, please share at which step you face issue. Thanks