Virtualbox has this handy feature that I can enable a remote desktop server of the virtual machine. Does such a feature exists for AVDs? If you would enable the remote desktop server for the AVD, you could connect to it as if it were a remote desktop, and see and control the emulated screen from remote.
qemu has built-in support for VNC. You can run the emulator with the following options emulator @AVD -qemu -enable-kvm -vnc 0.0.0.0:32 Then you can connect on localhost:5932.