most require a desktop client to be installed on the other machine - in instances where you have only user permissions on the other machine (work) this becomes troublesome.
I'm not talking about software that needs a server (like VNC); I'm literally talking about clients that talk the Microsoft RDP protocol. There are plenty to choose from for either platforms
Also if your work using something like Citrix; clients exist for both platforms for that as well.
RDP is a protocol implemented directly in dozens of clients in both the Apple app store and Google's play store. No need for installs on the target machine.