Yes, but getting it to work requires that you both:

(a) disable FileVault, and (b) enable automatic login

One option is to automatically log in to an account which has very little access, and have everything sensitive on an encrypted disk/partition, and to use a separate keychain for any credentials you want to protect.

This and more suggestions here from a company using Macs as build servers: https://forums.developer.apple.com/forums/thread/737381?answ...

I don't like the idea of enabling automatic login on any machine, so I keep FileVault on and just accept that any rebooted Macs will need physical access on restart.

If it's possible somehow to get screen-sharing access (or even SSH) without automatic login after a reboot, I'm sure lots of users would love to know how.

Yes it supports remote admin via terminal or virtual desktop. I currently use mine like this for transcoding while freeing up my macbook.

My old mini ran just fine only accessing it over remote desktop. I assume the new ones will act the same.

With ssh, most certainly.

Also, if you enable desktop sharing via VNC, it will also work at the GUI login screen.

You can enable SSH to do this