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You can enable permanent adb in the developer options. I forget what it's called. And you need to check the remember box when allowing the connection.
I'm giving this a try. If it can remember the server that talks to it and does not need a re-pair each time, this might be ok.
At first I tried adb_shell with Python and found it didn't seem to be able to pair or connect over wifi. So I fell back to creatively shelling out to the adb cli. So far so good.
Thanks for the suggestion!
Unfortunately this doesn't work well. You can enable wireless debugging, but it'll get disabled if the wifi disconnects/reconnects.. ever more annoying is that it'll come back up with a new port making automation basically impossible here.
Still on the hunt for something better.