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Yes, VNC. Multiple variants available. Remote devices might be available with some of them, otherwise there are other options for that like usbip.

Has VNC gotten better with latency? I used it quite a few years ago and compared to remote products from MS and Apple it was sluggish.

Commercial remote/thin-client style products at the time were usable as desktop replacements, VNC was only used as a last-resort for small tasks.

I've used VNC back when I actually needed to manage servers remotely but not for about 12 years. It was always more clunky than RDP.

Is it viable to use vnc within the same home as a way to have slow system connect to the main desktop.

I do it all the time, have an old (2009) laptop that's basically just a thin client to my main desktop machine via VNC.