Oh? I though I had to buy a $99 developer account,and connect the device with my account to be able to build it and install it. I guess I missed something important in the docs.
There are limitations. The signature on the binary is only valid for 7 days I believe, so naively you'd have to rebuild/reload every week, however there are certainly automations that do this for third party apps with a little daemon running on your Mac in the background, and I suspect there are equivalent automations for your own apps/open source codebases to reduce the hassle.