There are several technologies that provide graphical remote access.
I do advise NoMachine (NX) clients.
The protocol provides compression, and the operation is notably faster compared to other alternatives.
Besides they also have a ARM binary to install, I installed it in a raspberry pi.
They have the free and the paid solutions; and have binaries for several architectures, including Linux, Windows and MacOS.
You will find it here.
They also broadcast their presence in a local network, and if the client and server are in the same network, the entry will appear automatically.
From the security point of view this solution is also more secure then teamviewer; it does however obliges you to have a direct connection to your server, be it with VPN or SSH tunnels.