pico-probe
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Support official Pi debug probe
https://www.raspberrypi.com/news/raspberry-pi-debug-probe-a-plug-and-play-debug-kit-for-12/
Should just involve setting some pin assignments?
Indeed, checking the schematics it seems to set the SWDIO/SWDCLK to GPIO 14/12 and disable the support for RST should be enough. :)