Is openocd in Zephyr toolchain too old?

[binEncoder]

I have the following questions related to the zephyr debug environment. Please help me if you are good at debugging. Thank you.

1. Is openocd( https://github.com/zephyrproject-rtos/openocd?tab=readme-ov-file ) used by zephyr no longer maintained? Its version has been stuck at 0.11.0, which is several years old.
2. If there is a debugging requirement, how can I install a higher version of openocd myself and use it in zephyr instead of using the lower version of zephyr provided.

The following are some of the processes I use to debug with pico 2.
I use a RasberryPi Pico2 and want to debug an elf built with zephyr using CMSIS-DAP( https://www.raspberrypi.com/documentation/microcontrollers/debug-probe.html ).
Below is my environment information.
OS: Ubuntu 22.04 jammy
Zephyr SDK( Toolchain ): 0.17.0
Zephyr: 4.0.99

The openocd version in the zephyr toolchain is 0.11.0, which does not contain rp2350.cfg.
I tried to get some openocd configuration information from the raspberrypi official website( https://github.com/raspberrypi/openocd ), and after using it with zephyr, I got the following errors.

1. Can't find target/rp2350.cfg
   => I tried downloading it from the Raspberry Pi website and placing it in the appropriate location.
2. rp2350.cfg:38: Error: Unknown param: -adiv6, try one of: -chain-position, -ignore-syspwrupack, -dp-id, or -instance-id
   => I deleted the error section in rp2350.cfg.
3. rp2350.cfg:43: Error: Invalid AP number!
   ...

I also use the Raspberry Pi Pico SDK
( https://www.raspberrypi.com/documentation/pico-sdk/index_doxygen.html#raspberry-pi-pico-sdk ) and it can connect to my pico 2 normally.
From the pico sdk, I found that the openocd version it uses is 0.12.0.

• Pico SDK( 2.1.0 ) + Openocd( 0.12.0 ) + Debug Probe => Connect Success
• Zephyr( 4.0.99 ) + Zephyr SDK( 0.17.0 ) + Openocd( 0.11.0 ) + Debug Probe => Connect Fail