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.
Changing the GDB Client Setup, executable path in the debugger configuration from ${cross_prefix}gdb${cross_suffix} to a direct path to the executable arm-none-eabi-gdb appears to have solved my issues.