WeeChat + relay clients can do it as well, you only run weechat in a tmux/screen somwhere and connect to it with a relay client (Glowing Bear or WeeChat-Android). Works nicely, with synced state and arbitrary history scrollback
I honestly just run a raspberry pi that has Weechat running all the time in a tmux session. So I just SSH whenever I need from wherever, pretty much (with obvious security settings configured).