I'm using ARD (on a desktop MDD machine running 10.2.X) to control a remote Xserve (also running 10.2.X), as well as two other clients. Basically, this works fine, and I can control the screen of the Xserve so as to configure Retrospect backups, etc.
Often, however, when I try to get control of the Xserve screen with ARD, I get a message to the effect that you can't control a screen with less than 256 colors, and nothing else. The only way I've found to fix this is to reboot the server (via Server Monitor): when it comes back up things are OK again.
What's up? This machine (the Xserve) has a full (Radeon) video card, and I can't see how it could be seen as having "less than 256 colors." The problem often arises when I have logged in this way and then logged out, and then try to log in again; but not always.