Is there a way to run the Jenkinsfile from command line?
I've done this before. Essentially you can use the Jenkins CLI to import/export jobs, which will allow you to create and/or update a job with the definition you want to run. Be it JenkinsFile or some groovy script or whatever. Check this blog for details.

Once you (re)define the job, you will simply remotely execute it using the same Jenkins CLI. You can check the progress of the job from CLI and even read the logs to see progress. I cannot share the code, as the copyright is owned by one of my previous employers, but it is easy to recreate.