RP2040 is really great experience. You can get a debug probe (either buy or make yourself with another RP2040)
I cant tell you how awesome it is with minimal setup to get
- Full print logging
- Option to attach a debugger
- cargo r will just flash your code and reset the RP2040
I wish they had smaller modules with wifi (pico w is too large for many of my usecases). That's the only reason I keep using ESP-C*. It's getting better but the esp-rs tooling has a lot of very rough edges.
probe-rs is amazing. In ARM land it works with pretty much any CMSIS compliant gear, and yeah you get debugging and logging on pretty much anything as a result.