Tailscale should provide everything you need. Then you can use whatever remote desktop/management tools you want.
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Just use ssh and be sure to disable remote root access and require key based authentication. If it's good enough for aws, azure, etc. then it's good enough for what you want.
You'll want to read up on port forwarding and pick a remote gui tool. "No machine" works very well for x11, but rdp is supported by some wayland displays. Vnc is the old workhorse.
If you want a full complete remote desktop solution, you should probably look at VNC and portforwarding its port. I think it's 3001.
Or if you won't (or can't) mess with port forwards, you could setup something like RustDesk for the TeamViewer experience.