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.
You should not pass the BIN file to the debugger but rather the ELF file; the BIN is a binary image, suitable to flash the MCU but not for debugging, as there is no symbol table in it.