How can you get remote access to laptops behind a NAT/firewall?

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In my company, we're rolling out Linux laptops to my team. We're 100% remote workers, no one even lives in the same state as the headquarters.

If my teammates are logged into the VPN, it's pretty easy to administer a team member's laptop - I just ask the user for the IP address and ssh in as the service account (with keys, not passwords), or run an Ansible playbook against the machine.

For the Windows users (not on my team), our helpdesk uses Quick Assist, and IT can remote desktop into anyone who's logged in to the Azure Active Directory domain. Even if the person is behind a cable modem doing NAT.

So my question is, is there any sort of software which is similar to Quick Assist we can install on our Linux laptops so that the Linux team sysadmins can get access to laptops? I've seen folks on this list talk about TeamViewer and AnyDesk, but both of those seem to be paid solutions. Is there any sort of F/OSS solution? I am totally OK with hosting a cloud instance as an authentication server or something like that. I also heard something about Chrome Remote Desktop. Apparently Google does session brokering, so that may be interesting, although we're not a Google shop, we're a Microsoft shop and I'm bringing Linux in. I'd much prefer a F/OSS solution, if anyone has any advice.

Thanks for any advice!
Thomas
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