Hello @2231puppy (cute puppy there!)
If you choose to go with Raspbian for Robots, tightvncserver comes pre-installed so you can use a VNC viewer like RealVNCviewer right out the box.
It's totally supported.
You can follow part of the instructions found here. Ignore the fact that it talks about BrickPi, the steps are the same for all our robots. Scroll down till you see Connect to your Raspberry Pi Using VNC