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I've used guacamole many times and can only say good things about it. It's much easier to give a client web based access to their server than explaining how to use remote access.
Can I provide remote access to a Windows 10 desktop PC with this?
Have set this up many times for less tech-savy friends. What I actually did was have them install docker-compose and provided them with a compose script to build up the latest version. I wouldn't use it myself though, I don't think I'd sleep well at night having a single factor auth webserver with access to my entire network.
I suppose you could set up a VPN that supports two-factor, then put the server behind it.
just require mutual auth (certificate based authentication)on the reverse proxy. extremely simple 2 factor auth
Dunno if I’d call dealing with your own SSL CA “simple”.
I swear I see this pop up on HN once a month. Has anything changed?
The project graduated out of incubator status on the 15 Nov... I don't see a formal announcement about it anywhere, and that isn't really apparent from the page (other than the URL change). Not sure if that is why it was posted or not, but that seems to be what is different from the last time it was posted.
Nice to see the love as this goes through the phases first as an incubator project and now the real enchilada.

Guacamole – A clientless remote desktop gateway | https://news.ycombinator.com/item?id=15389727 (Oct2017:1096points,216comments)

A browser is not a client?
I think they mean 'agentless' rather than 'clientless'. You don't need to install anything special on the remote machines, just enable standard remote access protocol (ssh, rdp, vnc, etc)
"We call it clientless because no plugins or client software are required."

Clientsoftware like mstsc, vncviewer, Teamviewer ... or a browser.

"Desktops accessed through Guacamole need not physically exist".

I love cloud as much as the next guy, but it is comprised of machines which do have a physical existence.

That seems a little pedantic for what is almost certainly talking about VMs and VDIs which are contrasted with 'physical machines'.
Which do physically exist (a totally pedantic point).
But not as a physical desktop with a monitor, keyboard, and mouse.
The install process is still very non trivial, to say the least. The usage expirience is very smooth, though, anazingly for RDP contained in a browser. Some browser addon to supplement the Keyboard shortcuts might be required if I want to use it as a regular phyisical console to a cloud desktop. All in all, pretty cool software!
I love Guacamole, but the authentication options leave a lot to be desired, in the sense that it defaults to saving passwords for all connections defined, which is nice for usability and, say, having predefined accounts for monitoring but a security nightmare for other purposes.

I wish the default were to prompt users to _always_ authenticate against the target systems, and store no passwords whatsoever.

The frontend code is really lean, so adding an authentication prompt should be fairly easy.
That’s not really my point. It should be there by default...
Would it be possible to use Guacamole in a setup with a server and a client, if neither the server or the client has an externally visible IP, and their firewalls cannot be configured?

Alternatively, are there other solutions which make it "easy" to enable SSH access to the server in such a scenario?

You could give zero-tier a go. It supports that case and asked you to build a whole network, not just tunnel ssh.
"Easiest" way I can think of is to both connect them to an externally visible VPN server. This can be an Amazon micro instance or even a raspberry pi.
They are exploring making it work over webrtc which would support such a use case (although you'd still need a signaling server to setup the initial connection)
Gravitational Teleport[0] is exactly what you've just imagined.

I set up the free version a few month ago. if that suffices, its really neat.

if it doesn't... the paid version probably still won't be an option, because it's silly expensive.

[0] https://github.com/gravitational/teleport