@Robert Pangrazio Thank you for contacting Microsoft Q&A. I understand that you want your cloud VMs to be able to ping the VPN clients using a DNS name since the IP address for the client VPN keeps changing every time it connects.
While there is no way to setup static IPs for P2S VPN clients at the moment, if your organizations uses Active Directory Integrated DNS zone for name resolution then you can use this to host DNS records for your on-premises datacenter and Azure. In this scenario, there are two sets of AD DS DNS servers: one on-premises and one in the hub VNet. We recommend extending your AD DS domain to Azure. You can give this a try and see if this works for your scenario. Hope this helps.
Please do let us know if you have any further questions/concerns and we will be glad to assist further. Thank you!