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Stock Raspberry Pi OS cames with VNC preloaded. All you need to do is run raspi-config and turn VPN on. That's it.
But there is a problem. It is a propyretary software and it's defaut configuration prevents connecting with anything other that they crappy application.
You try to login to your Pi and you get this error:
Unknown authentication scheme from VNC server: 13, 5, 6, 130, 192
Furtunately there is a simple fix for that.
Dive into the terminal.
Just run this and confirm new password.
sudo vncpasswd -service
You need to edit the main configuration file:
sudo nano /root/.vnc/config.d/vncserver-x11
and add/change the following line:
Authentication=VncAuth
Now you can restart the Pi or just the service:
sudo systemctl restart vncserver-x11-serviced
Done