So just to clear up, the full steps are:
Connect to same wifi network
On Vision Pro -> Settings > General > Remote Devices
On Mac -> Xcode -> Devices & Simulators -> Select the Vision Pro & enter the code
On Mac -> Run a build targeted at your vision pro device which should now be a run destination (Developer mode setting wasn't visible till I did this), you will get an error saying developer mode is not enabled
On Vision Pro -> Privacy & Security > Developer Mode
Quite a process, surprised someone forgot to document this :)
Topic:
App & System Services
SubTopic:
Core OS
Tags: