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Boot into graphical mode on Kali

Find out what level you are currently running on
who -r

Find the name of the service manager currently running
chkconfig --list | grep '2:on'

If gdm3 is not installed/ used, install it
sudo apt-get install gdm3

If chkconfig is not installed, install it
apt-get install chkconfig

Turn ON the service to auto boot to GUI
chkconfig --level 2 gdm3 on

Turn OFF the service to auto boot to GUI
chkconfig --level 2 gdm3 OFF

Start GUI mode from command line
startx