By VPN I mean something that can be used individually by developers from their own machine (is there a proper technical term for this type?), not static point to point from a site such as an office (which is what CloudVPN seems made for).

We ended up setting up OpenVPN, which shouldn't be necessary. SSH is great and all, but when you add Kubernetes and other sensitive things like dashboards, you really want to virtualize everything and hide every internal service behind a proper, solid VPN gateway.