You can do this through the raw command.
kubectl get --raw "/api/v1/nodes/(your-node-name)/proxy/stats/summary"
There is also this
kubectl get --raw "/api/v1/nodes/(your-node-name)/proxy/metrics/cadvisor""
EDIT:
I’ve created a Prometheus exporter for this now.
https://github.com/jmcgrath207/k8s-ephemeral-storage-metrics