NoMachine is what you're looking for. Full login remote desktop multiplatform solution like rdp/xrdp, but wayyy smoother.
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I haven't done this in years but I've always found open source solutions to this to be quite clunky and usually barely worked. What always just worked fine for me was Teamviewer. Yeah it's proprietary and has crappy licensing but it's mostly a smooth ride.
Do try the open source options first tho, it's quite possible they got way better in the last few years since I've done this.
AnyDesk, best performance I've experienced when it comes to screen sharing.
If your machines run X then TeamViewer, Rustdesk or Anydesk should work.
On Wayland I don't think they will, but I'm not sure. I tried TeamViewer about a year ago and it wouldn't run under Wayland.
In general, remote desktop is a pain on Linux.
With ssh, but you will only have access to the shell
I use Chrome Remote Desktop daily. I don't know if it's the best, but it works great for me. https://remotedesktop.google.com/