Improve Dev Container Workflow

[azhangvo]

Right now, it is rather frustrating to have to use run_dev.sh to run the container. Can we instead

• Integrate with existing IDE (primarily VSCode dev containers plugin)
• Provide X11 forwarding or some sort of screen forwarding (this seems to work on the Jetson already, why?)
• Detect between Jetson / host development to optimize scripts
• Still allow for NVIDIA CUDA optimization on Jetson without compromising ability to develop locally

This will likely be a long term exploration, and can be split into multiple issues. Issues should be roughly explored in the order listed above. It may be helpful to look at other repositories such as firmware for some ideas.