No, just one. You set up one device/server as a VPN gateway (often called VPN concentrator), and you will have access to anything the concentrator has access to on your home network.
Either you just your VPN concentrator as your jump box, or you set up routing and firewalls to be able to access them directly.
The Offspring - She’s Got Issues
That song is embedded in my mind with the associated memory of Americana having released not long before, and we were playing Waveracer on N64 with a friend who has since passed.