Can't connect to SQL Server through SSMS remotely
Windows Firewall is turned off so no issue there. 


There will be some form of firewall operating between the machine and the outside world (unless there is something really wrong with your company's infrastructure setup!) and that is most likely blocking access to the relevant ports for external connections.


  How do I connect to an instance on this server using SSMS on my local machine?


It may be that you cannot access the SQL Server directly at all, in which case you'll need to use tools installed on the VM(s) rather than local copies. It may be that there is a VPN seetup that you can connect through. It may be that there is a route through the firewalls connecting to a specific address+port from your location. In any case you will need to talk to your infrastructure people, we know nothing of your network arrangement so are unlikely to be able to help beyond these generic pointers.