I've been a fool for too long. There is a FREE (yes, FREEEEEEEEE!) tool for performing remote desktop through firewalls. LogMeIn.com has a free version of their tool for remote desktop access through firewalls.
This tool is excellent for users that want to remote control and office or home PC when they are in different locations. It is not as well suited for IT professionals that want to control PCs within the internal environment for repairs.
The biggest benefit of this software is that no firewall configuration is required. After the agent is installed on the PC, it initiates the connection out through the firewall on port 80. If your computer has web access without authentication, then game on.
If you need other tools like the ability to transfer files or print, then you can upgrade to another version with a monthly fee. The other main alternative product with a monthly fee is GoToMyPC.