The VR version of Steam Link first launched on Meta Quest headsets just under two years ago. As an Android OpenXR app, it actually already ran on Pico headsets if you extracted the APK from a Quest, with some quirks.
Now, Steam Link VR is officially available on the Pico Store and Viveport. The Pico Store version supports Pico 4 Ultra, Pico 4, and Pico Neo 3 Link, while the Viveport version currently supports Vive Focus Vision and will support Vive XR Elite later this year too.
Why do you think you have to jump through hoops? These are the steps to do it if your distro has it packaged:
Also, I’ve seen a lot of people report significant problems with Steam Link VR on Linux.