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Zephyr docs: docs.zephyrproject.org/latest/boards/raspberrypi/rpi_pico/doc/index.html
Note that the LED blinker example does not work on the Raspberry Pi Pico W, see also: Run Zephyr on Raspberry Pi Pico W.
You can speed up the debug loop a little bit by plugging the Pi with BOOTSEL selected, and then running:
west flash --runner uf2
This flashes the image, and immediately turns off BOOTSEL mode and runs the program.
However to run again you need to unplug the USB and re-plug with BOOTSEL again so it is still painful.
Video 23.
Let's run Zephyr RTOS on Raspberry Pi Pico. Ep.1 by Mr. Green's Workshop
. Source.

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