I have always preferred TightVNC over the various other VNC flavours. It does only one thing, but does it well, with minimal setup and network requirements.

I have tried RustDesk recently, and the performance when it worked was nice. But I found it too complex to set up across more than a few machines, and ultimately unreliable, with connections failing without any useful error message, an unresponsive relay, weird certificate errors, etc… It needs a couple of years to mature.

I would suggest looking into using WireGuard to wire your various networks and computers together. It works very well most platforms. You can easily give laptops a road-warrior connection, so they always phone home. Then it doesn’t matter where they are.