The Raspberry Pi Pico range of boards is fully compatible with Visual Micro, including the Serial/Wifi/Hardware Debuggers.

The traditional Raspberry Pi boards generally speaking are not compatible with Visual Micro, however there is a board package which appears to offer some support to allow the code to be built on your PC, then uploaded over WiFi to the Raspberry Pi board to run:
https://github.com/me-no-dev/RasPiArduino

Generally as the traditional Raspberry Pi boards are full blown Linux OS machines, they offer different use-cases to the low level programming on Arduino type boards.  There is a detailed discussion about this on the Arduino Forum below, which gives some insights into the differences:
https://forum.arduino.cc/t/programming-for-the-raspberry-pi-with-arduino-ide/884...

Sorry for any confusion.

The short answer is you cannot develop projects for the Raspberry Pi Zero or Pi Zero 2 in Visual Micro to my knowledge.  The only board package which offers any compatibility is below and needs manual installation (i.e. not within Visual Micro's Board Manager):
https://github.com/me-no-dev/RasPiArduino

The Raspberry Pi Pico boards you have installed are wildly different from all Raspberry Pi boards before them, as they are a small embedded RP2040 microcontroller, which is compatible with Visual Micro and the Arduino eco system.
https://www.raspberrypi.com/products/raspberry-pi-pico/

All of the other Raspberry Pi 2/3/4/5/Zero etc boards are far more powerful and complex CPU's making them very difficult to simplify down to the Arduino level of coding, which runs directly on the CPU with no OS layer.  This is why they run a custom Linux OS which can handle all of this, with the trade off in areas like real time sensing etc... which is best done on a microcontroller (e.g. Pi Pico).

We do not write or publish the board packages, these are done by the board manufacturers or the Arduino community.