/System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources/kickstart -activate -configure -allowAccessFor -specifiedUsers

/System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources/kickstart -configure -users jamfManagementAccount,localadmin1,localadmin2 -access -on -privs -all -setmenuextra -menuextra no -restart -agent