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.
The post on "Redirect printf for STM32L476 Discovery?" in this forum didn't answer this for you? The references there should work for any MCU in the System Workbench environment and should be easy to modify for your Nucleo board and the UART being used.