It is a risk. The discourse on VPNs is messy. It's true that you shouldn't rely solely on VPNs for access control to applications. It's also true that putting important services behind a VPN significantly reduces your attack surface, and also puts you in a position to get your arms around monitoring access.
The right way to set this stuff up is to have a strong modern VPN (preferably using WireGuard, because the implementations of every other VPN protocol are pretty unsafe) with SSO integration, and to have the applications exposed by that VPN also integrate with your SSO. Your users are generally on the VPN all day, and they're logging in to individual applications or SSH servers via Okta or Google.
"RIP VPNs" is not a great take.