Enabling or Restarting Apple Remote Desktop Remotely Revision as of Sunday, 20 December 2015 at 19:56 UTC
The following grant access to all users. This is useful if you’ve
mistakenly restricted access to a few and have locked yourself out.
For ARD versions below 3.2
sudo /System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources/kickstart \
-activate -configure -access -on -restart -agent
-privs -all
For ARD versions above 3.2
sudo /System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources/kickstart \
-configure -allowAccessFor -allUsers -privs -all