Connect Remote PLC with Office Laptop via VPN

Hi, I am trying to connect a PLC I have in the factory to my office computer,

I am trying to connect a PLC that I have in the factory with my office computer.

The PLC is connected to a computer with internet and my idea is to use VPN to make the communication between my office computer and the remote computer, which is connected to my PLC.

I have followed a tutorial that explains it for Step 7, but applied to the Tia Portal.

Testing in the office with another computer on a different internet network than my laptop and a test PLC 1200, using the IP Gateway of the PLC as indicated in the manual, I manage to communicate, modify and load the PLC program.

My problem is that now I have to try to connect to the factory PLC but I can't modify its configuration because I would have to stop the factory and I can't do that.

I have already configured the factory computer and it communicates with my office computer, I have verified that the computer pinged me with the PLC, and I have verified all the steps that the manual said; except the configuration of the PLC gateway. And I can't manage to ping from my office computer to the PLC.

Is it possible to do this type of communication without defining a gateway?