This Terraform project example allows you to create an EKS with its VPC, its VPN to access it privately and the cluster-autoscaler.
It is excellent for creating your own infrastructure on which you can then carry out your own tests and developments.
In the following diagram we see a summary of the infrastructure that we will create, that is, a VPC with private and public subnets per availability zone, with an EKS and an AWS VPN client that allows you to connect to the private subnets, as well as access the EKS privately.