Tracealyzer is a frequently used tool for debugging and profiling FreeRTOS applications. If you have not tried it yet, make sure to check it out.
If you have used Tracealyzer earlier, note that the TraceRecorder library was redesigned in v4.6 and the integration guide has changed a bit compared to older versions. You find the updated integration guide at
https://percepio.com/getstarted/latest/html/freertos.html
The TraceRecorder library is included in the application installer but also available at GitHub - percepio/TraceRecorderSource.
Several new features were added in v4.7, see Percepio® Tracealyzer® version 4.7 is here - Percepio