VNC Screen Sharing with a running Mac without a confirmation

Thank you for any suggestions!
I need to regularly check with another Mac that has a static IP and is always running. Both machines run Snow Leopard and I use the command Connect To Server in Finder to connect to VNC://….
So far I managed to ask for confirmation and have someone in the location confirm to establish Screen Sharing, but I have not been able to do the same without asking for permission first.
I don’t want to use the first option By asking for permission
but the second option As a registered user.
The error message is:
Authentication failed to “server”
Please verify you have entered the correct name and password.
Does the user who wants to establish the connection have to be a different one from the one who is currently logged in? I have tried both, the same user and a different registered user on the machine.
What else could I do differently?
One is a Mac Pro and one is a Mac Mini both run 10.6.8

I have been doing this for years...
Do you have a real world static IP or is it behind a router.  If behind a router:
1.  look into No-IP for its free (manually renewable monthly) or paid services to convert it to a real IP and domain-style name; and
2.  open port 5900 on your router to the mac's local static IP that you want to control.
Go into System Preferences:Sharing and click on Computer Settings... and uncheck that anyone may ask for permission.
I then just use the GO menu in Finder on the outside Mac as in this example:
vnc://noriker.noipnet.net (or suitable substitute that No-IP will provide for you) and log in with my account name and password for that particular Mac.
Does that work for you?

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