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
Seems like they both would be replaced soon - on ST site in section ‘STM32 Software Development Tools’ they both - TrueSTUDIO and SW4STM32 - are marked as NRND.