A Surface notebook can run Access apps.
A mobile app can be built to facilitate data entry, but it is not cross-platform, so Android and iOS would require different apps.
A web app can also be built to facilitate data entry and it'd be cross-platform, build one and it works everywhere with a browser.
I don't know how to use Azure or how to connect to Remote Desktop services. However, I can setup a Firebase Realtime Database in 1 minute from scratch and within the next 10 minutes, I'd be able to insert into and retrieve data from it using REST API from Access, without paying. A web app can also be built to let drivers work from their phone.
So, basically:
1. Access + Surface Notebooks + Firebase
2. Access + Web App + Any Phone + Firebase *cheapest, likely free
3. Access + Web App + Any Phone + SQL based server *just pay hosting
4. Web app hosted on VPS *just pay hosting
5. Access + Azure/Dataverse/PowerApps *paid monthly
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