If you already have Drush aliases set up for your live machines, deploy those aliases to your CI server, and use them to launch your nodes (instead of copying the SSH info).
Create a new “Dumb slave” but instead of “SSH slave”, select “Launch slave via execution”
This is the command to use:
/usr/local/bin/drush @abclive ssh 'wget https://your-jenkins-server.example.com/jnlpJars/slave.jar -O /tmp/slave.jar && exec java -jar /tmp/slave.jar'
Jenkins will run the command which sets up the remoting capabiliity.