how to interact with detox running in a react native app

My current workflow when writing tests w/ detox is roughly following:

atIndex

As you can tell, the workflow is not ideal because I'm basically guessing what the test code should look like. Instead, I'd like to be able to "connect to detox" that runs inside the app and send the commands to it. That would allow me to figure out the correct commands and then just place them into the test and would avoid the "repeat" step I mentioned above.

More specifically, I'd like to be able to set something like a breakpoint in a detox test and when I hit it, I'd like to be able to execute actions like await element(by.text('Done')).tap();.

await element(by.text('Done')).tap();

Or alternatively, I'd like to build the app with detox build, then manually get to a certain screen in the app and then again "connect to detox" and start executing the actions.

detox build

Is this now possible? If not, is that something that can be done?

Do I understand it correctly that the js code written in detox tests doing the interactions and assertions runs on the device itself (and not on the computer)?

The docs unfortunately don't give a lot of info about this. Thanks!

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