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I understand that QEMU built-in gdbserver can be used to debug kernel or bare-metal program. But I am curious that if it is possible to use QEMU built-in gdbserver to debug a program running in guest os in QEMU.

Mahler
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It is possible, but it won't be pleasant. Don't be surprised if execution bounces around as the kernel services external interrupts, and switches to other tasks. I'd recommend using a normal user-mode debugger inside the VM if possible.

Jonathon Reinhart
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