Hi Xinyiu,
I just want to be sure: do the debugging instructions you mention for using ULINKPLUS + ARM DS IDE work for specifically debugging TF-M (secure+non secure) applications. Like I mention in my message, I do not see any issue so long as the application is completely secure.
PyOCD: I have not contributed anything to it. PyOCD seems to recognize Musca S1 readily. Like Raef Coles mentions in his response, he has used PyOCD to debug Musca S1.
Regards, -Arun.