There's huge difference between _sensors_ and _actuators_. You can put sensors online if you don't care too much about data leaking out. You put _actuators_ online... You need to be able to deal with the consequences.
Exactly, this is bad security plain and simple
This is the way. Read only remote, write access requires on site access.
How does this actually work, in practice? If you have read access to sensors, then there's a non-air-gapped network between the control systems and the internet.
If your network isn't air gapped, then it's vulnerable, and attackers will side step the "read only" path to affect control system changes.