any way to remote into a mac and here sound?

If you have someone at the other end at that machine, absolutely. If you wanted it to be completely automated that's a little more complicated, but definitely doable. I'm currently trying to figure this out myself for a fully automated solution so I'll keep you posted here. You can definitely do it with something like SonoBus or even zoom, and use macOS built-in screen share or VNC connections etc. But I think Apple remote desktop may support this natively, I really just have to mess around with it, I've only seen it in documentation but I haven't actually played with it yet.

I came up with a way using various bits: a VPN, SonoBus, the Blackhole audio driver, and macOS's built-in Screen Sharing. You can read about it on AppleVis, here.

There's also RIM, if you can make that work. So far, I've been unable to, though that could just be me.

https://pneumasolutions.com/products/rim/

Sorry, I know it's an old thread.
So today I was able to try this firsthand. Basically you go in the audio and video control in the status bar when in a facetime call, after screen share and selecting your screen name (like retina something) to hear everything you go there again and click control, then the other mac user has to authorize.
Then it's a bit tricky, basically you technically can have your own voiceover still on if yours doesn't use ctrl-option as modifier, as capslock won't work, or ideally you turn your off and the real difficult part is to get the focus in the screen share window, and it depends on how command tab work. After that you can already hear VO because of the screen previously shared and now you also can control it with the keyboard, and you can do basically everything with the default modifier as mentioned above. It's not ideal, but when we're lazy and don't wanna install a 3rd party app like rim or else it can get the job done quite easily.

Jump desktop. It's what I use. It's great. Does require a purchase but works on everything.

Before this goes off the gutter, because I did writing this: Remote incident manager. accessible enough.

RIM didn't like it if you tried to authorise it remotely. Maybe things have got better but I'm a bit reluctant to renew my subscription just to find out. Perhaps the issue was that my Mac Mini had no display attached, but it seems very fragile.