At work we use Meshcentral. It requires you to host your own server, but it’s very powerful, and very reliable. We’re managing something like 400 remote systems with it currently. We also use Netbird as a secondary access layer (I prefer it to Tailscale for the simplicity of setting up ACLs, and the really easy deployment).

For most home server usage though, I wouldn’t bother with Meshcentral. It’s a lot of overhead if you’re only managing a couple of systems. If you really need remote desktop (why do your servers even have desktops?) use RustDesk instead.