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ROSBRIDGE and robotweb tools can be used to build a web based interface for remote control but I can't say if can you get all that done on a RPi 4. I've set up something very similar to what you've described but the RPi is used only for video and I use a laptop for running the web interface and navigation.
My hunch is that RPi can't handle that load but it's only a hunch. Navigation and webserver with video feed loads the laptop better than 50%.
Here is a couple links about my example of remote interface on ROS1. https://answers.ros.org/question/315015/what-is-the-best-way-to-monitor-and-remote-control-the-robot-from-tablet#315022 https://answers.ros.org/question/319626/real-time-map-generate-on-web-like-a-rviz#319636
I saw a question recently about something called RVIZWEB or WEBRVIZ or something similar so that might be worth looking into.
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