It’s still running at 20MHz, I think you have to change this in that file
(That also helped for a PICO-D4 according to an issue)
Since this issue seems to be actually new and unrelated to all other posts that was indeed the right thing to do.
Now the question here is if even the latest released esp32 openocd version from July 2020 is too old. Since I don’t have a Mac, I’m unable to compile the most recent version, and I also can’t seem to find officially released packages which are newer (or I have overlooked them).
Now to test this either someone can build for Mac or I’m building it for Linux and the thing has to be tested in a Linux VM with the USB debugger passed-through.