How to share Back to my Mac across different Apple IDs?

I'm trying to figure out the best way to remotely get into my family's iMac from my MacBook Pro as needed while I'm away. An internet search taught me that Back to my Mac was the thing, but that only works when the computers are on the same Apple ID, and I've got a different Apple ID from my parents (I know their login information, for what it's worth). Short of creating a new account on my parents' Apple ID, is there a way to use Back to my Mac to get from my computer to my parents'?