I have two sites which are 3km away from each other, both sites have internet access from the same ISP. I would like both sites to have access to each other throught the internet routers (TP-Link TD-W8968). Is it possible?? if not, please explain what do I need to achieve the connection with the lowest cost possible.
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Yes, use IPsec VPN to connect the two routers. You can do this directly between your current routers - no need to spend any money.
According to the manual these routers support up to 10 IPsec tunnels (you only need one). IPsec is fast and secure, and with the VPN running from edge to edge you have no NAT issues.
Refer to the linked pdf at page 61 for configuration instructions.
I would like both sites to have access to each other throught the internet routers
Yes, this is called a VPN (Virtual Private Network). People have been doing this since the birth of the internet. There are a thousand different VPN solutions out there, but the common ones in use today are L2TP, IKEv2, IPSEC.
No idea, but routers that do site-to-site VPNs are plentiful so if your router doesn't do it, get one that does. It shouldn't cost much.
You will have to use a Virtual Private Network (VPN) to achieve this. It's very very common and you will find a whole host of VPN providers, some expensive some cheap, that will be able to offer you a solution. Just do your research and see what suits you best.