I do it all the time, through Virtual Private Network (VPN) connections.
There will be a "VPN Appliance" connected between the Internet and the automation Ethernet network at your client location. Your PC will have a "VPN Client" application loaded onto it.
When you connect your PC to the VPN Appliance over the Internet, it creates a "virtual" network adapter that is part of the remote automation Ethernet network. RSLinx can connect to the remote network via the virtual network adapter.
You never, EVER want to connect your controller directly to the Internet. Forget you ever had such a thought.