See the operator UI URL on every local run

A local tofupilot run now gives you a browser operator UI by default instead of taking over the terminal, so the run log stays readable and prompts are answered where they render best.

• Updated local runs in a terminal to serve the operator UI and print its URL, with the plain run log in the terminal; pass --tui for the terminal UI.
• Added a reminder with the URL each time a prompt or unit identification waits for input.
• Improved runs next to a station or another run: the default UI picks a free port instead of failing, and CI or --json runs still fail fast on unanswered prompts.