You can establish a SSH connection to the device that has been set up to accept such connection. Does abc.example.com accepts SSH connections?
VPN is a method to establish a tunnel between two separate networks. In simple terms, if you are on the network with IP address x.x.x.x you can't reach computers on network y.y.y.y but VPN gives you this possibility. Notice that I've used IP addresses to describe networks. Addressing computers by their DNS name (like abc.example.com) across VPN requires more configuration. My point here is: you may want to try SSH to a computer by it's internal IP address: "ssh
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