ARM Compiled QEMU - "standard VGA not available"
Solution 1:
VGA is a (more or less) x86-specific standard. As such, it is not available on ARM. A similar question was answered here: You can obtain graphics support using the ARM Versatile baseboard.
Seeing how your guide already sets the -M versatilepb option, you should be good to go as is. The kernel you're using already has support for the graphics solution on the emulated board.