Indeed it is poor man's SWD for free if you have the Pi. However when Pi is used also as a desktop the connection is very unreliable. I tried this or Pi 3B+ and when just moving window the opened SWD connections breaks. But when just using already opened terminal window it works fine. Maybe it is also because dynamic CPU scaling as there are some hardcoded numbers expecting specific CPU frequency in the config.
But I guess Zero as a dedicated device over e.g. serial or USB could be quite reliable in this. In fact just reliable as those <$2 STLINK clones from aliexpress are :-)
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