Best way to VNC the system qwith Qubes OS

I went back using Qubes from laptop to desktop. Moreover, it’s becoming quite difficult and time consuming to maintain 2 systems, let along accessing files in many different VMs
I know remote controlling the Qubes OS isn’t recommended for entire purpose of the security, but if one had to go that route, what would be best way doing it?
I travel often and need access to my in house system. I tried to manage 2 Qubes (laptop and desktop), then went high end laptop only, and now going back to full desktop due to better performance.
Would hardware options, such as PiKVM, TinyPilot etc. would be best for this task?