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If you don't want to discover how to do that, you can always use Tailscale https://tailscale.com/ which works great. It might be the simplest-to-use system out there for these kinds of scenarios. You can get a mesh network running between your nodes in about 10 minutes. (No affiliation, just a happy free user)
Thanks. Once all the nodes are on the same virtual private network, you can have SSH access to all the nodes and can run bulk commands on all of them using something like https://github.com/duncs/clusterssh . With SSH, you have complete control over the node and can do anything you want, including starting/stopping services and rebooting nodes.