Keeping in mind that containers are merely a bunch of namespaces, there's nothing stopping you from entering the same PID namespace with a different mount namespace in order to debug.
To summarize, in my experience there is immense value to having basic shell tools available in the environment where you need them with zero extra friction. Stripping those out provides a security benefit only in specific nebulous and niche scenarios.
I agree, however assuming you maintain a chroot for debugging this can be accomplished with a shell command that takes a single argument to target a running container by name.
Your linked comment suggests being limited to kubernates but nsenter and a chroot are entirely runtime agnostic.