At lest for
MSP432, there is a Windows executable named GdbTiAgent that can be launched by specifying the port and board config file.
It's tucked away in some tool folder in the CCS install: can't help more, as I am 3000km away from the machine I have it on.
It's not well documented, but it works, with some effort (see also
this post).
It should support other debug interfaces (xds100?) and processors in addition to xds110.
A listening port can be specified with -p nnnn and a conf file with -f
It's very bare-bone, not rich as, say OpenOCD but you can set breakpoints, and IIRC tracepoints, run/stop and do general gdb stuff.
Then you migth have to fool CCS in talking to it, or use a generic, gdb supporting, IDE.