PS5 Playing with my kids on separate consoles

[sniderfam2010]

This might be a dumb question but I'm trying to figure out how I can play multiplayer games with my sons while they are on they own console and I'm on mine. We both have PS5's. Do we have to have separate PS+ accounts to do this? If so, which plan do we need? Sometimes we are in the same household on the same wifi, and other times I'm travelling for work.