Teleroam
Download
The apps aren't public yet. This is where they'll be.
Mac
A small menu-bar app you install on the computer you want to reach. It won't be in the Mac App Store. Apple's store rules block the screen control this needs, so the Mac app will be a download from this site, signed by Apple so macOS will open it.
iPhone
The App Store app. That's the one you'll use day to day. It will also be in TestFlight before it's public, for people helping test it.
Work computer
No install. You'll open a browser page, sign in, and approve that browser once on the Mac. This is the path for a PC that won't let you add software.