08_hw_debug_JTAG - Use a RP2040 board for both USB to UART and JTAG?

[ChocolateLoverRaj]

I don't have a USB to UART converter or a USB to JTAG converter. I have a RP2040 Zero which I've been using as a USB to UART converter (https://github.com/Noltari/pico-uart-bridge). Would it be possible to use a RP2040 to also debug a Raspberry Pi? Maybe using https://github.com/phdussud/pico-dirtyJtag? And would it be a good idea to write a custom program for a RP2040 board to communicate with a Raspberry Pi through both UART and JTAG through one USB connection? Is the RP2040's slow USB speed good enough for JTAG debugging for these tutorials?