ARM DS-5

DSTREAM

Official debugger

https://developer.arm.com/documentation/dui0478/x/arm-ds-5-installation-and-system-requirements/system-requirements

• "DSTREAM, RVI, ULINKpro, ULINKpro D, and ULINK2"
• "You must use DSTREAM for ARMv8 development."

ULINKpro

Might also work

Segger

Mixed information about j-link support. I believer it was added briefly and then taken out. You also need a special license from Segger. So, although its possible, its a lot of overhead. You should really use DSTREAM if you can

https://community.arm.com/developer/tools-software/tools/f/armds-forum/2794/does-ds-5-support-rdi-debugging-interface

"RDI support was deprecated a while ago and dropped for RVDS 3.0, so DS-5 Development Studio does not support it. The supported debug probes for DS-5 are currently DSTREAM, ULINKpro & ULINKpro D. Although J-Link isn't currently supported, the RDDI interface used by DS-5 is public and can be used to add 3rd party support for debug probes. You would have to ask Segger about this though."