I have a similar situation for remote access, but my parents are 12 hours away.
I use Splashtop with the remote access feature (paid feature). No approval to access the machine is required.
I use Sophos UTM(next gen firewall, formerly Astaros(sp?)) for Web filtering, spam and anti-virus protection in my home as I was tired of trying to tie solutions together to make them work and SPAM was really starting to get bad. As you are doing this for personal use, you can get their Home use virtual license for free and run it on an old computer with esxi. Since it is a full fledged firewall you can also setup VPN connections if you want to. As you are covering multiple house holds you will need a user in each household to get a separate license for home use. Or you could purchase their appliances. With this you can create web filter rules with time based restriction, user based restrictions, ip address restrictions etc...
Splashtop Remote desktop solution:
Sophos UTM home use: