Allow using the debugger remotely

[bugadani]

Describe the bug

While it's already possible to start a debug server anywhere, it's not currently possible to start the debug server on-demand without SSH or other forms of remote access. Additionally, running two instances of probe-rs may lead to unexpected simultaneous access to a debug probe, which we could handle more gracefully if only a single probe-rs server handled everything.

To Reproduce

No response

Expected behavior

No response

Stacktrace

Operating System

None

Additional context

No response

[Yatekii]

We should also research whether it might be feasible to run a debug server at all times and then just open new sessions whenever someone connects. But also, I am not sure if one server can handle multiple targets/sessions at once because that seems like a usecase.