If a remote debugging change impacts the server (file located in devtools/server or in devtools/shared), you will not be able to test it with a device which runs the release version of Firefox for Android. For the purpose of remote debugging, your local build of Firefox Desktop where you will test about:debugging runs the content of devtools/client (including devtools/client/aboutdebugging-new). And devtools/server runs on the device. So as soon as you are developing or testing a patch that needs to update the server and is about USB debugging, you need to build Firefox for Android and deploy it on a test device.
This will be a short documentation focused on the typical patches you may write for about:debugging. For a more complete documentation, you can refer to https://developer.mozilla.org/en-US/docs/Mozilla/Developer_guide/Build_Instructions/Simple_Firefox_for_Android_build.