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Pico's
So the Pico's are fairly simple and you can sideload apps onto them without much hassle, you just need to enable Developer Mode and USB Debugging on the device. Here is how you do it:
Enable Developer mode and then you should also verify Enable USB Debugging is enabled.

Meta Quest's
On the Oculus/Meta Quests it is unfortunately a lot more complex! First you need to sign up for a developer account with Meta Quest Developer site. Make sure you’re logged into the same Oculus account that your Quest is registered to. Enter a new organization name and then tick the ‘I understand’ box to agree to the Terms of Service.

You can also watch this video for a full guide on how to do everything. How to Turn on Developer Mode on Meta Quest 3 (2025) - Full Guide


Once you have a Meta developer account, then you can enable Developer Mode from the App on your phone. Here is how you do it once you have a developer account:
First open the Meta Quest or Meta Horizon (newest name!) application on your iOS or Android phone.

Here are the steps in pictures. Click the area highlighted in red. If the "Developer Mode" is missing from your "Headset settings" either you need to restart your app or you setup your developer account not using your Quest account

Click second icon on top left of screen
Click on the name of the device
Click on Headset Setting
Click on Developer Mode
Click on Enable Developer mode