I somehow workaround it.
On the RaspberryPi I created a bash script in /usr/bin:

/usr/bin/x5

#!/bin/bash xhost +local: sudo /home/pi/adas0002 --platform xcb

I made it executable and then on my Desktop-Pc in Qt-Creator
I have "/usr/bin/x5" in "Alternate executable on device".

Now my application starts with root even without invoking any terminal.
I know this is very bad in security point of view but I dont care on my little offline
Raspi...