Already supported in Arduino-Pico (Earlephilhower) support, PicoProbe Debugging by maxgerhardt · Pull Request #36 · platformio/platform-raspberrypi · GitHub.
[env]
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
framework = arduino
board_build.core = earlephilhower
board_build.filesystem_size = 0.5m
[env:seeed_xiao_rp2040]
board = seeed_xiao_rp2040
; if using picoprobe SWD upload / debugging
;upload_protocol = picoprobe
;debug_tool = picoprobe