Is there a cheaper, established alternative to GoToMy PC for Windows 10?

You could use either a VPN solution (you need a windows server) or Teamviewer. Teamviewer isn't too bad but managing to do this cheaply as well as securely is going to be difficult.

On the side, if it's infrequent, you may get away with the "personal" use version of Teamviewer. I mean it's not like you're going to be using it every day is it?

You could also go for Chrome remote desktop application.
Its free and easy to use.

https://remotedesktop.google.com/ You can give it a try, i recommended to a friend and its working fine for him.

You can also try Open Source Software like Ultra VNC
http://www.uvnc.com/

I've used VNC4 before, i'm unsure if ultraVNC and that version are the same, however VNC4 had security issues.

If either of the above come back clear on a security check, I.E a light bit of reading, they would be free which is a massive plus over my recommendation.

Regards
Alex

On the side, if it's infrequent, you may get away with the "personal" use version of Teamviewer. I mean it's not like you're going to be using it every day is it?

Frequency of use does not and should not dictate whether you violate licensing by using the product in a commercial environment.

Setup a VPN - most secure thing - then you can just RDP into the machine (fastest connection I've found).

Connectwise Control is also available for 1 user for $19/month (Paid annually).

I've set up VNC Connect from realvnc.com on numerous clients.  It's different from the traditional (free) VNC in that you connect through the manufacturer's web site.  This gets around opening ports on the firewall and allows for much better security.  At $40/year, I've found it to be a very reasonable deal.

You could use either a VPN solution (you need a windows server)

No, you do not need a "windows server" for VPN

Check out Splashtop, they offer a free trial.  https://www.splashtop.com/  It is as low as $5 per month
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I agree with kenfcamp - most business class routers offer VPN services.  If you're using a Linksys or Netgear home router, REPLACE IT - I use Untangle which you REALLY should buy the subscription to, but even the free one is better than a HOME router in a business environment, IMO.  And it offers free VPN (you just need to install it on any old PC with two network cards.

The user has a computer in his store, and a home computer that he needs to do a remote session with from time to time.

Can you expand / clarify a bit further?

Which direction are you trying to go, from the store to the home, or from home to store?  If you are going from store to home, then you should be able to do this with just windows Remote Desktop Connection.  The computer at home would need to be running, and you would have to configure the router at home to forward the RDC port to that computer.  But with that in place you should be able to remotely connect.

More info would help clarify...

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»bp

"I've always had performance issues (and security concerns) about VNC"
Are you referring to the direct-connect VNC (which require port forwarding) or the web-based type such as Connect VNC?
I agree about security issues with VNC that requires port forwarding, but have reasons to believe the Connect VNC approach is fairly secure.

I was referring to the port-forward method. I am not familiar with the web-based version.

I'm assuming the store accepts credit cards. How are cards processed? PCI compliance becomes a potential consideration. I *think* that one of the things you'd end up having to do is MFA for whatever solution you go with. Naturally, if there are others who require the solution, credentials shouldn't be shared.

Note: This assumes we're talking about connecting from home to the store, not the other way around.

I appreciate how much good advice that I received in such a short time!  Thanks to all.