I don’t have experience with Thunar but you could just type something like sftp://defaultuser@local-IP-address into the address bar and see if it’ll work. Developer mode and Remote connectiion should be activated on your SFOS phone of course.
Additionally I set my access point (router) to always give my phone the same IP address in my WiFi network, so that I don’t have to find out the IP address again everytime I come home.
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