You mean, like this? https://probe.rs/docs/tools/debugger/

Like... zero days? You can just plop the .elf in gdb and then debug on target. I just did it on a riscv mcu just a couple hours ago.

Rust is there on the embedded, the only thing missing is people realising it's there.

What do you mean by visually debug? If you install `probe-rs` and do `cargo run`, you can print whatever you want to console; not related to the IDE. (Not sure if this is what you're looking for, or something else)