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
I also find this a great pain. It has been on the todo list close to a year now. Maybe you would like to try out CoIDE. It has Mcu reset button. Also, you can disable the programming of the binary image to the mcu on the initiation of debugger and programming it at will with a single click of button later.