With the VPN set up, you're 80% of the way there.
VPN networks often block two network operations that parts of RSLinx Classic and RSLinx Enterprise rely on; broadcast packets, and closed-port detection.
In RSLinx Classic Lite, you should use the "Ethernet Devices" driver. Enter the IP address of each controller into the Host list, and append ":EIP" to the end of each IP address.
The :EIP suffix (works with RSLinx Classic 2.51 and higher) tells RSLinx Classic not to attempt a connection using the old Allen-Bradley CSPv4 protocol but to skip directly to the EtherNet/IP protocol used by ControlLogix and MicroLogix controllers (and by SLC/PLC in the past ten years).
For the PanelView Plus terminals, you need to configure RSLinx Enterprise inside FactoryTalk View Studio. The RSLinx Enterprise browse can be blocked by the same VPN functions that block the RSLinx Classic EtherNet/IP driver browser. You can right-click under the Ethernet driver and manually insert a device (the PV+ terminals) into the network schema.
Once those two things are done, the VPN should work well with RSLinx Classic and RSLinx Enterprise.
If it doesn't first try PING and then use a web browser to try to connect to the controllers built-in diagnostic web pages. Proving ICMP (Ping) and HTTP connectivity is a good first step before diagnosing RSLinx.