14.2.2.2. QEMU graphic mode arm terminal implementation
arm and aarch64 rely on the QEMU CLI option:
-device virtio-gpu-pci
and the kernel config options:
CONFIG_DRM=y CONFIG_DRM_VIRTIO_GPU=y
Unlike x86, arm and aarch64 don’t have a display device attached by default, thus the need for virtio-gpu-pci.
See also https://wiki.qemu.org/Documentation/Platforms/ARM (recently edited and corrected by yours truly… :-)).