pyocd 0.36.0, VS Code and Zephyr

I'm using pyocd 0.36.0 and STM32F303K8Tx. My VS Code launch configuration is:

{
	"name": "Launch Nucleo F303K8",
	"device": "STM32F303K8Tx",
	"cwd": "${workspaceFolder}",
	"executable": "build/zephyr/zephyr.elf",
	"request": "launch",
	"type": "cortex-debug",
	"runToEntryPoint": "main",
	"servertype": "pyocd",
	"gdbPath": "${userHome}/zephyr-sdk-0.16.5-1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb",
	"preLaunchTask": "West Build",
	"showDevDebugOutput": "both"
}

The output I get when launching is below:

"configuration": {
    "name": "Launch Nucleo F303K8",
    "device": "STM32F303K8Tx",
    "cwd": "/home/void/Documents/projects/zephyr/mimxrt1060_projects/app",
    "executable": "/home/void/Documents/projects/zephyr/mimxrt1060_projects/app/build/zephyr/zephyr.elf",
    "request": "launch",
    "type": "cortex-debug",
    "runToEntryPoint": "main",
    "servertype": "pyocd",
    "gdbPath": "/home/void/zephyr-sdk-0.16.5-1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb",
    "preLaunchTask": "West Build",
    "showDevDebugOutput": "both",
    "__configurationTarget": 5,
    "gdbServerConsolePort": 60000,
    "pvtAvoidPorts": [],
    "chainedConfigurations": {
        "enabled": false
    },
    "debuggerArgs": [],
    "swoConfig": {
        "enabled": false,
        "decoders": [],
        "cpuFrequency": 0,
        "swoFrequency": 0,
        "source": "probe"
    },
    "rttConfig": {
        "enabled": false,
        "decoders": []
    },
    "graphConfig": [],
    "preLaunchCommands": [],
    "postLaunchCommands": [],
    "preAttachCommands": [],
    "postAttachCommands": [],
    "preRestartCommands": [],
    "postRestartCommands": [],
    "preResetCommands": [],
    "postResetCommands": [],
    "toolchainPrefix": "arm-none-eabi",
    "extensionPath": "/home/void/.vscode/extensions/marus25.cortex-debug-1.12.1",
    "registerUseNaturalFormat": true,
    "variableUseNaturalFormat": true,
    "pvtVersion": "1.12.1",
    "__sessionId": "92fd644d-1ce3-4385-a456-128c973442cc",
    "pvtShowDevDebugOutput": "both"
}
Reading symbols from /home/void/zephyr-sdk-0.16.5-1/arm-zephyr-eabi/bin/arm-zephyr-eabi-objdump --syms -C -h -w /home/void/Documents/projects/zephyr/mimxrt1060_projects/app/build/zephyr/zephyr.elf
Reading symbols from /home/void/zephyr-sdk-0.16.5-1/arm-zephyr-eabi/bin/arm-zephyr-eabi-nm --defined-only -S -l -C -p /home/void/Documents/projects/zephyr/mimxrt1060_projects/app/build/zephyr/zephyr.elf
Launching GDB: /home/void/zephyr-sdk-0.16.5-1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb -q --interpreter=mi2
1-gdb-version
Launching gdb-server: pyocd gdbserver --port 50000 --telnet-port 50001
    Please check TERMINAL tab (gdb-server) for output from pyocd
Finished reading symbols from objdump: Time: 16 ms
Failed to launch PyOCD GDB Server: Error: spawn pyocd ENOENT

And the terminal tab output:

[2024-07-07T16:45:37.815Z] SERVER CONSOLE DEBUG: onBackendConnect: gdb-server session connected. You can switch to "DEBUG CONSOLE" to see GDB interactions.
pyocd gdbserver --port 50000 --telnet-port 50001
[2024-07-07T16:45:39.945Z] SERVER CONSOLE DEBUG: onBackendConnect: gdb-server session closed
GDB server session ended. This terminal will be reused, waiting for next session to start...

When running west debug, everything seems to work fine, but I want to get debugging working from VS code.

Start with the VS Code launch configuration and the pyocd gdbserver --port 50000 --telnet-port 50001 entry point, then compare its environment with the working west debug invocation. Reproduce the spawn pyocd ENOENT failure and determine what is required for the VS Code launch to start the GDB server successfully.