RealVNC
Setting up RealVNC on the Raspberry Pi version of Kali has several "quirks", here's a short guide to get through them. A big reason to use RealVNC is for their cloud access, which is free for personal use and very inexpensive for commercial use.
Notes: -Tested on Kali Linux RaspberryPi 2, 3, 4 and 400 (img.xz) from Offensive Security -RealVNC only works on 32bit version -All commands are run as root
#Ensure your upto date
apt update && apt upgrade -y
#Remove TighVNC
apt remove tightvncserver
#This is needed for install and resolves the error-
/usr/bin/vncserver-x11: error while loading shared libraries: libbcm_host.so: cannot open shared object file: No such file or directory
apt install libraspberrypi-dev
reboot
#Download latest build for Raspberry Pi ARM
wget https://www.realvnc.com/download/file/vnc.files/VNC-Server-6.7.4-Linux-ARM.deb
#Install package
dpkg -i VNC-Server-6.7.4-Linux-ARM.deb
#Enable RealVNC to start on boot
systemctl enable vncserver-x11-serviced.service
#Start RealVNC in service mode
systemctl start vncserver-x11-serviced.service
#Check for 0 0.0.0.0:5900 to ensure everything is running
netstat -tuna
#To register which allows cloud access you need to be connected to GUI and run
sudo vnclicensewiz
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