ARDAgent

ARD (Apple Remote Desktop) is a part of macOS. If you have the ARD administrator software installed, then you or another user must have installed it at some point. No one can remotely access your Mac as long as Remote Management is disabled within the Sharing pane System Preferences.

https://support.apple.com/guide/remote-desktop/enable-remote-management-apd8b1c65bd/mac

Edit: ARD is installed within macOS by default. ARD is an integrated part of macOS which Apple includes within every version of macOS. There is also a separate ARD administrator app that can be installed separately to actually help you connect to other Macs. I'm not sure which part includes ARDAgent. Just wanted to clarify my earlier statement.

It's a helper app for Apple Remote Desktop. Leave it alone.

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