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http://remotedesktopmanager.com/
Amazing tool. Also supports putty, and so much more.
The point of a console server is to connect to the console. Saves you from moving your console cable all around, and prevents you from being locked out when you change/erase the config.
You're right, no one should ever use terminal servers. No idea why they're so popular.
Complicated topologies require "out-of-band" access of some sort when you are configuring and troubleshooting for labs, unless you want to sit in the closet and move a console cable around. That's why terminal servers are used. You can't TFTP a config to a device that's not reachable via IP for whatever reason.But how often do you erase the config? just keep a blank config on a tftp server when you want to reset it etc.