The solution is as follows,
1) Burn the kali image on sd card
2) Make the wpa_supplicant.conf file
3) make the interfaces file
4) Paste them in boot drive and plug the sd card in raspi and boot.
Example of wpa_supplicant
higher priority number indicates higher priority, i have included wpa-eap also in case you have such a connection.
example of interfaces
iface lo inet loopback
iface eth0 inet dhcp
iface wlan0 inet dhcp
The wpa_supplicant gets moved to /etc/wpa_supplicant/ and the interfaces gets moved to /etc/network/ by pi so u just need to put them in the boot folder accessible from the system used to flash the card (note if u use a linux system then you can access /etc from it as linux supports reading/writing to ext4).
Now u an just power up pi and it will connect to the WIFI as per the priority and ssh is pre-enabled in kali (in my experience, not sure if its for all versions)