How to screen share to Mac that is logged into same iCloud account without prompt on target Mac?

[pruppert]

If I open macOS Screen Sharing app, I am shown a window asking for Hostname or Apple ID. I would like to see the screen of another of my Macs that is logged into the same iCloud account. If I enter my Apple ID here, the target Mac shows a notification asking if the screen should allowed to be shared. I am obviously not at the remote Mac to be able to click Accept. Is there a way to use Screen Sharing app to a Mac with the same Apple ID without this prompt. Basically, I want it how Back to My Mac used to work.