Remote access outside of lan without "ask for permission"

I have MacBook and Mac mini. I want to share screen from Mac mini to MacBook without "xx asked to take over your screen" popup. When I am on local network I am able to to access Mac mini with login and password from "Network" section. However I don't know how can I achieve this when outside of lan. I tried to connect to Mac mini by trying to connect by appleId however it show "XXX wants to show your screen" popup and I have to manually accept it. Is there any way to whitelist my iCloud ID so I will access instantly without need for manual interaction with Mac mini?