Buy them a router (RT-AX58U still the best choice for the longest serviceability).
Flash RMerlin 386.3 Beta 1 on it.
Perform a WPS button reset that is appropriate for the router model as indicated in the link below.
[Wireless] ASUS router Hard Factory Reset | Official Support | ASUS Global
After getting the router fully reset, do not use the same SSID's on an AX router that was used on a G class router.
Best Practice Update/Setup Router/AiMesh Node(s) 2021
With the above suggestions followed as necessary, enable the OpenVPN Server, using all the defaults, and save/export an opvn file to your computer.
Be sure to test access to the router by removing your router and replacing it with your parents, then, going off-site to see if you can connect. Alternately, you can import the opvn file to a phone app, and while on cellular/LTE, check that the phone connects.
With the above out of the way, the router can now be shipped to your parents.
Once there, they need to be sure the modem has been powered off for at least 20 minutes (an hour is preferred). Power up the modem, power up the router, wait 5 to 10 minutes for the router to settle down, then you can connect via the OpenVPN server as needed.
HTH.