I had to re-image and re-configure a rebellious Mac Pro in one of our labs, but in the end forgot to enable Remote Management. Instead of wasting precious calories walking back to the lab, I found a way to enable it using terminal. Run these commands after SSH-ing into the remote machine:
cd /System/Library/CoreServices/RemoteManagement/ARDAgent.app/Contents/Resources/
sudo ./kickstart -activate -configure -access -on -privs -all -restart -agent