But i have also errors with fpdebug/Dwarf internal dwarf-debugger(don't starting process ).
FpDebug indeed does not work on Raspberry. FpDebug is i386/x86 only. Raspberry is arm.
So you have to use gdb.
Well there is a package for LLDB, but LLDB without FpDebug is alpha, so you not get any good of it / but if gdb does not work at all, then its better than nothing).
I don't think "LLDB + FpDebug" will work. That is only for Apple M1,M2,... -- Unless arm on Raspberry has the same registernames as M1. Then maybe... (that is if you have a working lldb).
As for GDB.
Upgrading Lazarus will likely not help much. While GDB is still supported, that currently means: If there is time, then it will receive attention. And there simple had not been time.
One thing you can look at, is in Project settings.
When using gdb you should use "Dwarf with sets". Do
not use Dwarf-3. This has a way bigger likelihood of causing issues.
You may also get better results with FPC 3.2.3 (or 3.2.4 once that is released), as it has a few fixes in the Dwarf generator.