Development tools for Zephyr on STM32Workbench for Zephyr: VS Code extension to set up, build, flash and debug Zephyr applications on STM32.Devicetree manager: browse, edit and visualize Zephyr devicetree, STM32CubeMX-like for Zephyr.
I also had this error! None of your proposed solutions helped!
For me it worked to press the reset button on the evaluation board at the moment I started the debugger!