Get AnyDesk, Teamviewerr and Parsec, if one goes down your safe with the others.
Also get some smart plugs and set them up with the computers. So in case a computer freezes, you can cut the power and give the power back. Remember that you need to set in bios that it should power on when the computer receives power.
With these, you should never be in a situation where you can't connect/control your remote computers.
Test the smart power plugs when in your home to make sure the computers actually turns on after receiving power.