Is there any way to install kali linux for raspberry pi using all space that is available on the micrSD card initially or do you HAVE to go back later and resize partitions in order to utilize the full space of the microSD card? I know raspi-config allows you to expand to use full sd card, however there is nothing of the sort for kali.
Kali linux for Pi can be found on this link : http://docs.kali.org/kali-on-arm/install-kali-linux-arm-raspberry-pi with instructions to follow in order to make it work on Rpi.
As far as, re sizing partition(s) is(are) concerned, you will have do it manually. You can follow this guide. It's pretty straight forward. I used it while re sizing my Ubuntu rootfs. This works for any linux distro pretty much .Link : http://elinux.org/RPi_Resize_Flash_Partitions
One of the alternate solution could be grabbing
raspi-config package from raspbian repo and install it on Kali Pi since both are debian based distros, it should work out of the box. Again, I've not tested it but it should work in theory.
Here are the steps :
sudo gdebi raspi-config_20150706_all.deb
Raspi-config utility should get installed by following these steps.
sudo raspi-config to check.
Hope it helps.