RAK11300 - SWD debugging and Serial output

I’m wondering if there are folks here that have tried to debug with SWD?

The platformio setup for the RAK11300 is very nice, but i’d like to be able to use a Pi PICO to perform upload, SWD debugging (and preferably also Serial output).
An example of SWD debugging with a pico is here: How to Program and Debug Raspberry Pi Pico with SWD?
And here: https://www.digikey.com/en/maker/projects/raspberry-pi-pico-and-rp2040-cc-part-2-debugging-with-vs-code/470abc7efb07432b82c95f6f67f184c0

Has anybody been able to do this?

The aim is of course to be able to press a button (F5, or the deploy button) in vscode to upload the newly build firmware and attach a debugger.