http://docs.info.apple.com/article.html?artnum=108030
This is the Apple tech reference for turning on ARD from the command line if you can ssh into a box. NOTE: Apple fails to note that you have to put ./ in front of the "kickstart" command.
For turning on ARD using ssh and enabling it for all users type:
/System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources root# ./kickstart -activate -configure -access -on -restart
-agent -privs -all
MUST BE SUDO or ROOT
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