Had this issue for over a year but recently found a solution after trying the other suggestions:
"Routing and remote access, error 1068, dependency service failed to start" was keeping VPN from working.
Went to "https://www.thewindowsclub.com/enable-the-dns-client-service-if-greyed-out" and followed their suggestions.
Some Microsoft Services were disabled causing the VPN to not start.
Seems OK now