Integrated VNC server

When I am running a VM, I want to be able to interact with it directly from a VNC session, so that I can access the VM console remote and/or programmatically.

Context: Using a VM over a VNC/Screen Sharing connection to the host is possible, but it would be more efficient and convenient to be able to directly interact with the VM console using VNC. This is also preferred to running a VNC server inside the VM because this provides access to the VM console without the VM needing network configuration and being able to access boot options before the OS is loaded. Other virtualization apps like VMware Fusion and QEMU provide this functionality.