Zephyr Workbench, a VSCode extension to manage Zephyr on STM32.
It enables users to easily create, develop, and debug Zephyr applications.
Main features:
Install host dependencies.
Import toolchain and SDK.
Create, configure, build and manage apps.
Debug STM32.
You can directly download it from the VSCode marketplace
For more details, visit the Zephyr Workbench
An update: I found that by setting the debug clock frequency lower (1.8 MHz, down from 4.0 MHz) I stopped getting the errors. Maybe it was primarily a signal integrity issue on my debug cable?