FULL tutorial for flashing Espruino into nRF52832 with Raspberry Pi (Zero) using OpenOCD and SWD (two wires)
This setup is very sensitive to movement/interference so try to keep things as stable as possible, without any background programs running on the pi.
It might help to disable cpu frequency scaling as there is hardcoded number in openocd config specific to cpu clock. by default e.g pi zero runs at 700MHz and scales to 1GHz when cpu is more busy. For faster Pis this difference is even larger like 600 idle vs 1600 busy for Pi4 so this is probably what breaks it as some timing loops may run 3x faster when something else runs too. see e.g https://wiki.archlinux.org/index.php/CPU_frequency_scaling#Scaling_governors
Only if the firmware on your nrf52832 chip is set to advertise on powerup. Bare chips usually would have a factory firmware that don't do anything (at least the ones I've had).
You should connect the four wires (swd + power) and see if openocd will show the chip as a target. This setup is very sensitive to movement/interference so try to keep things as stable as possible, without any background programs running on the pi.