Chrome Remote Desktop is a Google developed client-server framework that allows for remote desktop access to (in this case) a headless machine.
If you have a custom image that lacks Chrome Remote Desktop (CRD), follow these steps to install and configure it (based on Google CRD Installation page).
sudo apt update && sudo apt upgrade -y
If the custom image lacks a graphical desktop, install XFCE:
sudo apt install xfce4 xfce4-terminal -y
Download and install Chrome Remote Desktop:
wget https://dl.google.com/linux/direct/chrome-remote-desktop_current_amd64.deb
sudo dpkg -i chrome-remote-desktop_current_amd64.deb
sudo apt-get install -f -y
echo "exec /etc/X11/Xsession startxfce4" > ~/.chrome-remote-desktop-session
Enable and start the CRD service:
sudo systemctl enable chrome-remote-desktop
sudo systemctl start chrome-remote-desktop
If needed, install Google Chrome:
wget https://dl.google.com/linux/direct/google-chrome-stable_current_amd64.deb
sudo dpkg -i google-chrome-stable_current_amd64.deb
sudo apt-get install -f -y # Fix missing dependencies
In order to access a node that has Chrome Remote Desktop server side installed, you need to:
Access the remote access page on your local Chrome browser and hit the Begin button:

Select the Next button (under the assumption that you already have remote desktop service installed on the target node):

Generate authorization token for the node but hitting the Authorize button

Copy the command line with the token to you clipboard by selecting the target OS Copy button (icon to the right of the command line content pane - example below points at the copy button for the Linux platform)

Paste that command line in the remote ssh session on the node command line (typically not as a root user but rather as a user that was created for the remote access).

As shown in the above figure, the service will prompt you (twice) for a PIN number that will be needed in the next step as an additional security feature.
Switch to the Remote Access mode in your local browser:

If the authorization was successfully applied you should see the node listed under the Remote devices section:

Select that node and you should be prompted for the 'PIN created in Step 5:

Once the pin is successfully entered, you should be rewarded with the remote desktop access within your browser:

Important note: Chrome Remote Desktop authorization toke can't be saved with the image and will not "survive" reboots i.e. you will have to re-authorize access every time node is booted