I use this to help my grandma remotely! The two steps needed were to join her into my Tailscale network and set up SSH with key authentication only.
Now I am able to SSH into her computer and enable VNC (remote control) and connect to the VNC-server over an SSH-tunnel like this.
I replaced a Realtek one because it constantly dropped connections. Luckily, this was one of the type of fixes that actually turned out to be easier than it looked.