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  1. Forget the Arduino IDE! I would recommend using Visual Studio Code with the C/C++, Arduino and Cortex-Debug extensions. The Raspberry Pi Pico acting as programmer-debugger is called Picoprobe. It also features redirection of the Serial1 port. The installation process is detailed at the earlephilhower/arduino-pico page. You may need to build OpenOCD with specific options. It is easy and works fine. Debugging is performed from Visual Studio Code. Obviously, you can use manual command-line GDB and OpenOCD. The only caveat is Serial1 should be used instead of Serial to print to the
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  2. At USD4 apiece, you can use the second Raspberry Pi Pico as a programmer-debugger. It works really well!
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  3. Thank you for the pointer to the Challenger RP2040. It is nice to see the designers refrained from reinventing the wheel and took the Feather form-factor. Same for the LTE (SARA-R410M) or the WiFi radio (ESP8265). The Raspberry Pi Pico RP2040 is a very good board and I strongly recommend the Earle Philower's Pico core for Arduino over the official Arduino mbed-based implementation. There is a whole eco-system built around the Raspberry Pi Pico with many interesting kits. Let's me mention the E-Paper Display Pico Kit (EPDK), an all-in-one e-paper kit from Pervasive Displays.
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