Yes, Gnome on Ubuntu and Debian has had a built in rdp server for the last several releases: settings -> sharing -> Remote Desktop -> on
For some reason the performance with those is never on par with windows RDP, it feels a lot more like VNC.
Look into installing xorgxrdp-glamor and openh264.
It's unfortunate Ubuntu doesn't enable that by default. I'd compile the software myself, but for daemons like RDP I'd rather receive regular security updates...
XRDP? Only real problem I know of there is it doesn't support Wayland.
Look into installing xorgxrdp-glamor and openh264. I have zero issues in Fedora, at least, and most of my Debian machines (even ARM) have equivalent packages (although sometimes without full acceleration).