Apple Remote Desktop package is Mac only.
Universal Control is not applicable here.
It’d be much easier to configure remote access into the Mac than into that iPad.
ARD can be used for remote access, but you’ll either need to set up port forwarding, or set up a VPN to connect into the target network and run ARD via VPN.
The following thread covers some of the details of setting up remote access: (silly confusion) how to access my http:/… - Apple Community
With port-forwarding, you will want to isolate the Mac into a DMZ, as it will get poked at, and you’ll want to constrain the potential for damage should it be breached.
Setting up a VPN server in the local firewall is preferable and mid-grade and higher firewalls often offer that capability, while setting up a host-based VPN server (and port forwarding for that) is more effort and complexity.