I use TeamViewer for that, AND Chrome Remote Desktop. I've found that I need both so that if TeamViewer doesn't work for some reason I've still got Chrome available to go in and fix it...
Hardly the best setup but at least it's free. Will be checking this out to see if it fits my reqs.
I would like to have remote/shared access to Xcode + iOS dev stack... Or is there some other way to get that?