Replace “-users admin” with the username you need to grant access to.
sudo /System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources/kickstart -activate -configure -access -on -users admin -privs -all -restart -agent -menu
All information on this site is shared with the intention to help. Before any source code or program is ran on a production (non-development) system it is suggested you test it and fully understand what it is doing not just what it appears it is doing. I accept no responsibility for any damage you may do with this code.