There is no such thing as an ‘external’ or ‘internal’ IP address. An IP address is an IP address. Whether or not it is publically routable is a different matter.
I am assuming that you mean the ISP is supplying an IP address which is not routable (probably in RFC1918 address space) and you need to be able to access the RouterBoard on a routable IP address.
Then you do need to create a VPN, you are correct. What kind of VPN depends on what traffic your ISP blocks or permits.
If your internal network uses addresses in non-routable space, then you need to NAT traffic egressing through the tunnel.
If your internal network uses routeable address space, then you need to ensure that the correct routes are created both at the local Routerboard and the remote LNS/concentrator.