OpenOCD is the open-source Flashing and Debugging software used in most of the cases with NuttX . It provides interfaces to usual Flashing and debugging Hardware through configuration files and additionnal librairies.
Official website: http://openocd.org/
Official Source code repository could be found here : http://sourceforge.net/p/openocd/code/ but an extensive version also supporting ESP32 could be found here : https://github.com/espressif/openocd-esp32
Logic Analyzer is a hardware tool to track signals at a certain sampling speed (eg 24Mhz sampling capability in the salae logic8, 100Mhz for the logic16 , could be split over the different channels)
It is used usually to debug SPI,UART,I2C,I2S or other onboard signals.
You can use Sigrok Open-Source Signal analysis or proprietary Salae logic suite , as they are the most common tools.
Official Website : https://sigrok.org/
Supported Hardware : https://sigrok.org/wiki/Supported_hardware
Official Website : https://www.saleae.com/downloads
A look over the official websites of each manufacturer is the best official way to get the tools.
However , A search on Aliexpress with the adapted keywords might help to find cheap chinese copies for those who are short on money.