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 had this issue too, and found the correct way to solve it.
Instead of including a specific HAL part (#include "stm32f7xx_hal_gpio.h" in my case), you only have to include the full HAL header (#include "stm32f7xx_hal.h").