Following up on this, I realised it may be possible to use USB over IP (extension discussed here), and it worked great! 
Note that USB over IP does not do any compressing, so it’s still recommended to set up an efficiently encoded stream to avoid excessive bandwidth usage. This also doesn’t integrate with control station software and whatnot that’s expecting the stream to come from the vehicle, which may be a problem for some applications. For all other applications though, this is a super easy way to connect to an OAK device through BlueOS (or just through a Raspberry Pi more generally)
It may also be worth checking out roboflow - I haven’t looked into it but it could simplify some setup/configuration.