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Your routers should use built-in VPN functionalities of Windows, macOS and Android instead of using 3rd party apps. Ideally you give the informations needed by each OS and a clear step by step guide ...
Here is a good guide for setting up a VPN on Windows 10 without having to install an app. https://www.magnumvpn.com/setup-vpn-windows-10-l2tp-ipsec.html