Yes, my ISP gives me a static ip which I’ve also assigned to a domain and the ISP have set the reverse dns too.
I think the ability to allow remote control of your iPad is coming in iPadOS 18. But I don’t think there’s going to be an app from which you can access your Mac on your iPad.
Happy to be proved wrong.
You can do this now with any VNC app.
Screens is a popular choice
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+1 for Jump desktop. I have been using it on my 13" M4 iPad Pro to control my MBP at home - it works great even with very poor bandwidth.
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I recently switched to https://www.helpwire.app/ I use it to connect Mac to Mac and Mac to Windows. It’s a free app, and it works smoothly without any issues.