Should be possible if can allocate unique static IP to PC’s using teleworker link (Needs to be unique to both sites). I am assuming you will be using client to firewall VPN rather than firewall to firewall link. As long as DHCP on VPN link assigns DNS server, and Default Gateway, all you should see while link is active is remote site. Should return to normal view of local site when link is broken.
Other possibility is to use remote control software to take over PC on remote site – various software available dependant on exact requirements.