If NRST is connected, Select Mode: Under reset and Reset mode: Hardware reset in STM32CubeProgrammer. Then connect and erase the flash to recover the chip. These options are also in STM32CubeIDE in the run/debug configuration.
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Hmm, If I recreate this issue (reassign SWD pins), I can connect to a Nucleo-64 board with these settings. If that is the only issue, I don't know why would be seeing different behavior. I assume you haven't modified the jumpers or solder bridges on the board at all?
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No modifications at all. I searched and some websites told to reset using the boot pin but I don't know how to do it properly. It said to connect boot to 3.3v pin and then hold reset and then try to connect.