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 was also annoyed with the same symptoms. I solved the problem as follows.
・ Uninstall SW4STM32 Ver. 2.8
・ Install SW4STM32 Ver2.0
Maybe OpenOCD will work even if it is newer than Ver2.0.
I will continue to try out which version it can work with.