Debugging and Tracing an RTOS
A breakpoint stops time. On bare metal that is a fair trade, because the interesting question is usually "what is in this variable", and a halted core answers it perfectly. Under an RTOS the interesting questions have changed shape: why did the control loop run 4 ms late, which task was holding that mutex, what ran between the interrupt and the response. Every one of those is a statement about a sequence in time, and the instant you halt, the sequence you wanted to observe is gone.