Creating a VPN Tunnel between two routers

Hi everyone,

I was wondering if it is possible to create a VPN tunnel between two Nighthawk(R) X4S R7800 routers. The feature I was thinking of is the one described here https://www.linksys.com/us/support-article?articleNum=132865. I would like to extend my network hardware wise from location A to B over the internet via VPN. I've seen the OpenVPN support but this requires software on your device, this is a problem since I would like to access devices such as 3D printers from one network to the other.

Cheers