Change IP_RELAY -> GZ_RELAY in env var tutorial

[iche033]

🦟 Bug fix

Summary

Quick typo fix. I don't see IP_RELAY mentioned in other places so I think this is referring to GZ_RELAY

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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