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Are we talking site-to-site or remote hosts? For the former, definitely let the router handle it.
For the latter, it can kinda go either way I'd say. Using a Windows server might make it easier to integrate VPN permissions/etc. for users and hosts into an existing Active Directory deployment. But most routers and firewalls can also tie into existing AD/LDAP/RADIUS setups. Also, it's one more machine to manage/secure. The router/firewall may also require an additional license(s) to support VPN, and if you have a large number that need to be supported that may get expensive.