How do I connect to a SQL Server which is usually a machine I remote desktop into

Typically I remote into a machine with IP Address 00.00.00.00 and then I have an account in a domain, let's call it myspecialaccount\firstname.lastname.

Then I use Windows auth to connect to SQL Server instance for example:

ABCLACSQLC123\DEV04A

So my question is HOW can I connect from my laptop through SSMS directly to the machine (pending ports are open etc..)

In order to use Windows Authentication, you'd have to add the credentials you use to login to the laptop as a "Login" to the SQL Server. That can only be done if

1. You login to your laptop with a domain user and
2. The user is in the same domain in which your SQL Server instance resides

Otherwise, you have no choice but to use SQL Server Authentication.

In this case, you login to your laptop with a user in "Corp" domain, but SQL Server instance is in "Services" domain. So it won't work. Unless I think both domains are part of the same Forest.