Query: Simultaneously using work VPN and private VPN and no VPN (for different sites) [on Linux]

Does anyone have or know of a good guide on more complex VPN setups? That is, I have a work VPN (via Cisco) and also a private VPN (Mullvad) which I would like to use at the same time (in a complementary fashion), and, in addition, just use my IP directly for certain sites. Is there any reasonable way of doing this?