Hi
Please try this:
sudo apt-get update
sudo apt-get install libvncserver0
sudo wget https://github.com/samnazarko/vnc-vero3/raw/master/aml-vnc -O /usr/bin/aml-vnc
sudo chmod +x /usr/bin/aml-vnc
You should now be able to start the server running /usr/bin/aml-vnc. If you want this to run constantly you can set up a systemd unit to do so. This procedure should be the same on Raspberry Pi.
If you have problems connecting, make sure you are using True Colour (24-bit) or the connection will not succeed.