Screen sharing works just fine locally, but won’t work so well remotely without a path through the remote firewall.
A path into the remote network is certainly possible either directly (with port forwarding) or via VPN (with a VPN server on the remote firewall or port forwarding to a VPN server on the remote network.
Opening the path can also allow other folks on the network similar access into the target network, without some thought to access control. This is part of why a VPN can be useful.
That remote access can also mean setting up a dynamic DNS translation for the address of the firewall on the remote network, as that IP address can be dynamic; can change. The dynamic translation allows you a way to find the remote IP address without remote help.
Details here vary by the remote firewall abilities, and potentially a few other details.
Messages, and commercial remote-access solutions (including Messages) make this setup much easier, as can a mid-grade remote-access-capable remote firewall.
(There’s a reason I didn’t suggest this as the first option…)