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I just installed Raspbian lite on my RPI 3. I only need to run Chromium so I do not need a desktop environment. Here's the screen I use : https://www.waveshare.com/wiki/3.5inch_RPi_LCD_(B)

What I tried:

I installed xserver-xorg and xinit. My plan was to run startx chromium-browser on startup. However, I cannot run X because it throws me the following error: no screens found, event if I installed the drivers and I see text on it. Btw, xrandr --display :0 tells me can't open display :0. Any idea ?

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Are you doing this through SSH? if you are in a SSH terminal try
export DISPLAY=:0
if that doesn't work try
export DISPLAY=:0.0
then run your command, this tells bash to run the command on display 0 not the current terminal.

hope this helps.
also I just went through this, kinda. you can make the desktop look like a splash screen image and completely remove the taskbar or remove both the desktop and the taskbar all together.
edit this file.
sudo nano ~/.config/lxsession/LXDE-pi/autostart
comment out the first line to remove the task bar, comment out the second line to remove the desktop.

mind you this may not work with your setup as I still have my desktop installed. and I auto login to the desktop.

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