You could use a NanoKVM together with tailscale: https://wiki.sipeed.com/hardware/en/kvm/NanoKVM/network/tailscale.html

These cost around 60€ (don't know the dollar price) on Aliexpress (I remember them being a lot cheaper in the past....).

You do not need to use tailscale on the NanoKVM. You could use whatever VPN tooling your router supports to connect to your network and then to the NanoKVM.

P.S. There was fuzz in the past about them including a small microphone that was not documented. Make of that what you want.