Costa rican citizen opening sales office for US-based company

[willvv]

Hi,

I'm a citizen of Costa Rica working for a US-based company. The company has several partners and clients in Europe but now they want me to move somewhere in Europe to work closer to the partners and clients.
The idea is to find a country to be based off (Spain or Netherlands would be optimal) and be able to travel to other countries for business reasons.

What would be the best approach to do this?

Do we need to open a subsidiary in Europe? Can I work under a "freelancer" contract?

Thanks for the help.