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additionally, would like to have different privilage profiles, for example, the sales staff only to be able to access the crm server, the accounting staff only the erp server and the ceo to access all servers.
Spawn a Droplet and configure an opensource VPN solution. There are a lot of choices, but I would recommend OpenVPN or Pritunl.
Both have very stable clients and are easy to setup. Both offers per user/group access policies that allow you to configure privileges and restrictions. You can assign different groups different IP subnets and configure firewall rules to restrict access. An example is here: https://openvpn.net/community-resources/configuring-client-specific-rules-and-access-policies/