I wonder if the OpenOCD dummy or remote bitbang interfaces perhaps with a simulated target might be an option in this context?
http://openocd.org/doc/html/Debug-Adapter-Configuration.html As far as I know some people have managed to get OpenOCD to debug against simulated targets including RISC-V simulated using Verilator and Spike in case that might be of any use? Unfortunately that's about the extent of my knowledge of this as I haven't done it myself hands on.
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