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Make sure to forward ports 3333-3342 when running the docker run command as these are used for GDB sessions. See for the port forward command.
You can launch GDB debug sessions for any arbitrary test case by selecting Start GDB Session from the dropdown menu shown below:
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You will then be presented with an endpoint to connect to via GDB:
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Upon connecting to GDB, you will very likely want to load your binary via:
python
file myfirmware.elf

Custom commands

Command
Description
monitor reset
Resets VM. This is the equivalent of resetting a device over JTAG on real hardware.
monitor icount
Displays number of instructions executed thus far.