What steps could Greg take to manage the networked devices at a remote location, which uses an IP-based streaming security camera system, as if they were local devices, and to secure traffic to that remote location?

Using IPSec virtual private networks (VPNs) can give the impression that a remote location is connected to the local network, which would be ideal for Greg's situation where a streaming security camera needs to be relied upon. An always-on IPSec VPN would be the most suitable solution. TLS (SSL) VPNs, on the other hand, are typically used for specific applications, often related to web applications.