Design a debug interface for Arduino MKR WIFI 1010
The pads on the back of the arduino are designed to have a double row vertical surface mount terminal strip soldered to it.

From there you can make a 'dupont' cable assembly to connect it to the debugger. Alternatively a number of adaptor boards exist to connect to common debuggers. Or create a pcb that can plug into the terminal strip and provides a connector of your choice.

(Height may be an issue, but there are low profile terminal strip assemblies.)

I found this page which may be of help: https://forum.arduino.cc/index.php?PHPSESSID=c8uhmcjvsmn453is1v0k9t0ui7&amp;topic=442133.0