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Two instances cannot stay simultaneously in the same ade environment. I think this is the limitation of ade right?

When you say 2 instances - do you mean 2 instances of Autoware.Auto? If yes, they can perfectly run inside ade. https://ade-cli.readthedocs.io/en/latest/ is nothing but just a thin wrapper for easier management of docker images and volumes. As such you can run inside ade anything that you can also run inside the docker container. The way you install Autoware.Auto is either via ade or without the ade, see: https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/installation.html. The advantage of using ade is that you can very easily come back to the reproducible environment. Which is more difficult if you develop directly on the host.

Or do you have any suggestions for project management for Autoware.Auto?

I am not 100% sure what you mean by the project management. Some possible answers: 1. how to develop in Autoware.Auto: https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/develop-in-a-fork.html 1. How to run Autoware.Auto CI: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/.gitlab-ci.yml 1. How to keep track of issues in Autoware.Auto: https://gitlab.com/groups/autowarefoundation/autoware.auto/-/milestones

We try to run the LGSVL simulator on the server per remote desktop but failed (aborted (core dumped)). We figure out that we would have to have a remote desktop session that could access the GPU of the server. Does anyone know a possible solution for this?

I am not sure what exactly the problem is with your setup. More information would help here. Our problem with the LGSVL simulator is actually this one https://github.com/lgsvl/simulator/issues/1403.