For now, this is more of a proof-of-concept. I created a script which does all the necessary steps as described in the guide. With this script, setting up the codespace takes a few minutes, but afterwards the build of a pico-board worked fine (about 180s for first build).
Ultimately, part of the setup (tools and so on) should go to a docker-image, the rest should execute during creation of the codespace.
If you want to try it: my repo is https://github.com/bablokb/circuitpython/tree/tufty2040. Press the green code-button, select "clone into codespace". After the clone is done, open a terminal and execute the script
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.devcontainer/prepare.sh
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. .devcontainer/.arm-update-path.sh
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cd ports/raspberrypi
time make -j $(nproc) BOARD=pimoroni_tufty2040 TRANSLATION=de_DE