What is the equivalent of TeamViewer to work through NAT for your own VPS?

Question

Remote access

It is required to manage several computers located behind the provider's NAT. Teamviewer began to swear at commercial use, Ammyy looks somehow unsafe and, in fact, sooner or later can also limit use (I go to the same computer often and for a long time).
Since VPS is available, it would be logical to find some kind of software that raises the server on a vps-ke and that clients connect to it because of NAT, get their IDs, like Teamviewer, and so on.
Does this happen?

Answer 1

it doesn’t happen
, let him swear, it’s always like that

Answer 2

https://github.com/maxlinus/BrynhildrHelpdesk