The TeamViewer screen sharing session is initialized from the computer inventory in Jamf Pro and an optional Self Service invitation to join the session displays on the remote computer. After the session is started, you can re-send the Self Service invitation. Alternatively, copy the session URL and send it to the end user via your preferred communication method.
For Self Service notifications to work, you must configure them in the Interaction section of the Self Service settings in Jamf Pro. In addition, before the remote session is initialized, Self Service must run on the remote computer at least once.
Joining a session by the remote computer is an end user workflow with TeamViewer QuickSupport used as the remote management tool with granted necessary Privacy permissions. To establish a connection using other TeamViewer applications (e.g., TeamViewer Host), they must be installed on the end user computers. For related information, see the macOS mass deployment documentation resources from TeamViewer.
Consider your TeamViewer subscription limitations when initializing a session.