I have an esp32p4 development board. I am using esp-idf v5.5.1.

I start openocd like this and things look normal.

openocd -f interface/jlink.cfg -f target/esp32p4.cfg -c "init; reset halt"

Starting gdb like idf.py gdb I get:

Info : accepting 'gdb' connection on tcp/3333
Info : [esp32p4.hp ...