I have developed a Forth for the RP2040 which supports symmetric multiprocessing (albeit that tasks are bound to particular cores, by design) which I have confirmed works on the XIAO RP2040 named zeptoforth. You can get it from
https://github.com/tabemann/zeptoforth/. I highly suggest installing a prebuilt
full_usb build for the RP2040 as that will give you USB support out of the box. One note - when downloading the code, make sure to get the
zeptoforth-1.0.2.tar.gz (or whatever latest version instead of 1.0.2) because that will contain the binaries; the binary you want will be at the path
bin/1.0.2/rp2040/zeptoforth_full_usb-1.0.2.uf2 (or whatever latest version instead of 1.0.2).
If you feel adventurous you can build from source instead of using a prebuilt binary, but I should warn you that the QSPI flash on the XIAO RP2040 is a tad slow to write incrementally, so doing a new build will be slower than on, say, an RPi Pico. Also note that zeptoforth does support the Neopixel on the XIAO RP2040, the code for which is under
extra/rp2040/neopixel.fs, but this will have to be loaded manually.
As for what terminal software to use with zeptoforth, I would highly recommend zeptocom.js, which is at
https://github.com/tabemann/zeptocomjs/ and is also online at
https://tabemann.github.io/zeptocomjs/zeptocom.html; note that this is designed for Chrome or Chromium and apparently also works with Edge and Opera, but specifically does not work with Firefox or mobile browsers (I do not know about whether it works or not with Safari).