Remote Support From Within Zammad

Greetings,

Is there a way to integrate a remote support tool like TeamViewer or AnyDesk with Zammad, so that an Agent can initiate the connection from within Zammad?

Yes and no.
Only if the remote tool of question has a fixed way that can be called by an supported URL and if you either no the support IDs before hand or is provided by the user.

Link templates can be a solution, that is, if above applies:
https://admin-docs.zammad.org/en/latest/system/objects/types.html#link-templates