With the help from: https://developer.nvidia.com/embedded/learn/tutorials/vnc-setup and: https://forums.developer.nvidia.com/t/vnc-wont-work-without-jetson-connected-to-monitor/172932/3
mkdir -p ~/.config/autostart
cp /usr/share/applications/vino-server.desktop ~/.config/autostart/.
cd /usr/lib/systemd/user/graphical-session.target.wants
sudo ln -s ../vino-server.service ./.
gsettings set org.gnome.Vino prompt-enabled false
gsettings set org.gnome.Vino require-encryption false
# Replace thepassword with your desired password
gsettings set org.gnome.Vino authentication-methods "['vnc']"
gsettings set org.gnome.Vino vnc-password $(echo -n 'thepassword'|base64)
sudo reboot
The VNC server is only available after you have logged in to Jetson locally. If you wish VNC to be available automatically, use the system settings application on your developer kit to enable automatic login.
The desktop resolution is typically determined by the capabilities of the display that is attached to Jetson. If no display is attached, a default resolution of 640x480 is selected. To use a different resolution, edit /etc/X11/xorg.conf and append the following lines:
Section "Screen"
Identifier "Default Screen"
Monitor "Configured Monitor"
Device "Tegra0"
SubSection "Display"
Depth 24
Virtual 1280 800 # Modify the resolution by editing these values
EndSubSection
EndSection
sudo systemctl restart nvargus-daemon