Helicon Remote currently lets you engage the camera's AF system to set either the near or far focus point. You then have to use Helicon Remote's AF buttons to set the other end of the focus. This is because the camera remote API's generally only support relative focus movements, and don't report the lens's current focus position, so there's no method for Helicon to determine the focus point if focus is set on the camera.
On Nikon Z's I have published a technique that will allow apps like Helicon to determine the focus position of the lens. This enables the visual focus feature, allowing the user to use AF to set both the near and far focus points. You can read about the technique here:
https://www.dpreview.com/forums/thread/4738282
Which includes a video demonstration of the technique, implemented as a simple 80-line bash script that uses gphoto2:
https://www.youtube.com/watch?v=jgJV0WwKpXY