Hi @Luis Miguel Ruiz
It is possible for you to do a site recovery of the physical servers using a process server
You will need a server to protect your centos to the azure.I wrote an article in Portuguese showing step by step how to do it, it's the same process if you were to use it to protect a machine from aws:
Get in touch if you need more help with this issue.
--please don't forget to "Accept the answer" if the reply is helpful--