Loop through Servers stored in Config table and construct SELECT query with values from same table and run the select statement

CREATE TABLE #TableConfig (ID int identity(1,1), ServerName varchar(100), DatabaseTable varchar(100), KeyColumn varchar(50), WhereFilter varchar(200))
INSERT INTO #TableConfig ( ServerName, DatabaseTable, KeyColumn, WhereFilter )
SELECT 'ServerUS1', 'DB1.dbo.ClaimInfo'	, 'ClaimNo'		, 'TermDt< dateadd(yy,-5,getdate())' UNION 
SELECT 'ServerUS2', 'DB2.dbo.MemInfo'	, 'MemNum'		, 'TermDt< dateadd(yy,-5,getdate())' UNION 
SELECT 'ServerUS3', 'DB9.dbo.CandInfo'	, 'CandNum'		, 'TermDt< dateadd(yy,-5,getdate())' UNION 
SELECT 'ServerUS4', 'DB8.dbo.ProvInfo'	, 'PRovNum'		, 'TermDt< dateadd(yy,-5,getdate())'  

SELECT * FROM #TableConfig tc

Just created this Temp as an example. My scenario, i have a physical table with hundreds of rows.

Requirement is to Loop through all the rows from this TableConfig table. 
Go to first row, look for ServerName value and then connect to that server and construct SQL like

" SELECT KeyColumn FROM DatabaseTable WHERE WhereFilter "  and run this and INSERT data into Target table.---- KeyColumn, DatabaseTable and WhereFilter are from same Configtable

Then go to 2nd,3rd and so on and do same thing..

Any help is appreciated. Thanks