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It isn't quite the same, but I've had great luck with a combination of VS Live Share (https://marketplace.visualstudio.com/items?itemName=MS-vsliv...) and then Zoom or some other tool for voice communication.

Unfortunately, there's no substitute at all for having access to the entire desktop, with super low latency and built-in voice.

ScreenSharing.app is about as good as it gets, I've found.