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If I understand correctly you are asking if there is a way to launch an rqt plugin from the command line and have it find an existing/running rqt process and attach to it instead of starting a new process.

At the moment, unless I am mistaken, this functionality does not exist.

I think the best next step is to create an enhancement issue feature request on the rqt github repo.

Are you are willing to implement the behavior if it doesn't already exist?

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