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.
it's doable by creating a new configuration under "GDB Hardware debugging" in Debug configurations and setting it properly. also you need to start epenocd on remote machine manually.