http://danielodio.com/project-stargate-always-on-skype-video... is the first popular article I can recall about this.

http://danielodio.com/remote-always-on-connecting-our-office... is a followup that mentions that the always-on connections would have problems.

Perch is a startup that's mentioned a lot in the comments, and I trialled it and it was pretty nice, but it just shut down last month: https://perch.co/blog/goodbye-perch/

If you have a couple of Macs to spare, https://papercutsoftware.github.io/teleportme/ looks interesting, but I haven't tried it myself.