This procedure keeps security in mind. The idea is to turn on screen sharing while you need it, and then turn it off when you’re done. Also, the write-ups of Tim Boland and Chris Brewer were very helpful in figuring this out.
1) SSH into your remote OS X machine with an administrator’s log in and password.
2) Enable Remote Desktop (a.k.a. Screen Sharing, a.k.a. VNC) with this command:
sudo /System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources/kickstart -activate -configure -access -on -clientopts -setvnclegacy -vnclegacy yes -clientopts -setvncpw -vncpw mypasswd -restart -agent -privs -all
3) Login using a VNC client.
As I mentioned, TightVNC worked for me; for some reason, RealVNC and UltraVNC didn’t. Your password is “mypasswd” (see the -vncpw flag in the above command; you can — and should — change this).
4) When you are done, turn of screen sharing using your SSH session:
sudo /System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources/kickstart -deactivate -configure -access -off
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