Nothing is impossible when connected to the internet, however, by default screen sharing is not enabled, remote login is not enabled, etc…
The most likely vector is social engineering, where someone gets you to unknowingly give them access, by installing something. Maybe promising something fantastic or scaring you with fake virus reports.
macOS, while not perfect, started out more secure, as it roots were Unix, which had years of college students beating on it, and Unix was one of the first networked operating systems.
In the pre-internet years Microsoft was not networked, andadded features because they were cool, plus they had lots of young developers without adult supervision. So features were added without thought about security.
Windows has gotten much better over the years, but they still have issues, and a larger installed base, more frequently used in business, so a larger and more profitable target.
You should practice save internet surfing, do not fall for scare tactics, make sure you full trust where you get your software.