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CCS/BEAGLEBK: PRU debug error

Part Number: BEAGLEBK

Tool/software: Code Composer Studio

Unable to use CCS debugging tools on PRUs of BeagleBoneBlack via TI-XDS110 USB.

Host development computer for CCS9 is Debian 10 - Linux.

I am new to CCS9 and BeagleBoneBlack.

LAB 1: Toggle LED with PRU GPO
processors.wiki.ti.com/.../PRU_Training:_Hands-on_Labs

I am able to compile this code with both CCS and directly on the BeagleBone. I am also able to run this code loading it as firmware on the BeagleBoneBlack without CCS and see it blinking. So the problem is not the code and the coding or loading process in itself.

When I try to debug it trough CCS9 debugging tools, I get the following error when launching a PRU debug session:

--------------------------------------------------
Error connecting to the target:
(Error -1170 @ 0x4A322000)
Unable to access the DAP. Reset the device, and retry the operation. If error persists, confirm configuration, power-cycle the board, and/or try more reliable JTAG settings (e.g. lower TCLK).
(Emulation package 8.4.0.00006)
--------------------------------------------------

I think I am following the instructions precisely as per
processors.wiki.ti.com/.../PRU_Training:_Hands-on_Labs

The various "Test Connection" of "Target configuration" succeed. The "Connect Target" on CortxA8 succeeds. The "Connect Target" on PRU_0 or PRU_1 fails with the error mentioned above.

I think it is a trivial problem of configuration, but I am not able to figure out what it is. Also, I am not able to find any useful information on my problem.

Thank you in advance for your help.
BC.