Apple Remote Desktop Client or Remote Management

Access for the Apple Remote Desktop application and Screen Sharing is provided by the ARDAgent process. The settings for access can be controlled in System Preferences > Sharing > Remote Management. The interface to change these settings in script or from the command line is kickstart

Enable access for a user

#!/bin/sh

PATH=/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin:/usr/local/munki export PATH

# use kickstart to enable full Remote Desktop access
# for more info, see: http://support.apple.com/kb/HT2370

kickstart="/System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources/kickstart"

#enable ARD access
$kickstart -configure -access -on -users local_admin,ard_user -privs -all

$kickstart -configure -allowAccessFor -specifiedUsers

$kickstart -activate

Note: in this we are enabling access for two users local_admin and ard_user and giving them all access privileges.