What do you mean connecting to your clients via DNS and winbox?
The only method you should use to connect to client routers is via VPN etc…
Yes default rules block all traffic not coming from the LAN, this is appropriate for the default setup.
If you wish to permit incoming VPN traffic then you make an input rule prior to this as appropriate (such as wireguard port).
Did you somehow lose default rule that accepts established, related and untracked connections? It’s also in input chain, somewhere before this drop rule and takes care of allowing responses to connections initiated by router.