Move the UI core-affinity pin to after MainWindow init so startup and
restart recovery can use all cores (pinning before init starved the
restarting UI on the contended little cores, stretching recovery from
~30s to minutes). Move selfdrived off the saturated core 4 onto core 5
so its 100 Hz loop is no longer starved, eliminating selfdrivedLagging.
Verified over a full drive: selfdrivedLagging=0, core4/core5 sustained
>=95% only 0.3%/1.2% of the time, UI restart recovery ~15s with the
device staying engaged, radar tracking unaffected.
whoisdomi