How to automate launchctl / restart a daemon
You could automate this process using AppleScript's do shell script … with administrator privileges command.

do shell script "command" user name "username" password "pass" with administrator privileges


The AppleScript can be saved as an application and launched as needed.

To avoid needing to embed administrator credentials within the AppleScript, omit the user name and password parameters. Without these parameters, you will be prompted to enter your credentials each time.

To avoid needing to authenticate each time, while also avoiding embedded credentials, you can investigate storing the credentials in your local Keychain and adding your AppleScript application to the Access Control list through Keychain Access.app.