I started mentoring a FIRST Lego League team a few weeks ago. Wanted to remote control the robot, but the only resource out there was to pair the robot to another SPIKE Prime brick. This is a demo of how to control the robot via Bluetooth from a Windows machine. You can probs use a RPi here, just need a diff library for Bluetooth control (maybe evdev?).
No warranties, guaranties, blah blah blah... have fun. :)
Code is here: github.com/faisaltameesh/spikerc