Raspberry Pi Pico debug and upload using cmsis-dap with pico-debug

Hi everyone. Has anyone being able to use cmsis-dap as debug tool and upload protocol using pico-debug (GitHub - majbthrd/pico-debug: virtual debug pod for RP2040 "Raspberry Pi Pico" with no added hardware).

My platformio.ini file looks like this:

platform = raspberrypi
board = pico
framework = arduino
upload_protocol = cmsis-dap
debug_tool = cmsis-dap

I’ve followed the exact instructions on how to upload the pico-debug-gimmecache.uf2 file to the pico. When I run debug, the following messages are spit out (only showing last part):

Info : RP2040 Flash Bank Command
Info : tcl server disabled
Info : telnet server disabled
Info : CMSIS-DAP: SWD Supported
Info : CMSIS-DAP: FW Version = 2.0.0
Info : CMSIS-DAP: Serial# = E6604430432F152C
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : SWCLK/TCK = 0 SWDIO/TMS = 0 TDI = 0 TDO = 0 nTRST = 0 nRESET = 0
Error: CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.

.pioinit:13: Error in sourced command file:
Remote communication error. Target disconnected.: Connection reset by peer.

Any help welcomed.