The error: "no support Non-stop mode" could be due to that the feature "Live expressions" is enabled in your debug/launch configuration.
Could you try to disable it and test again?
The live expressions rely on non-stop mode. I don't think we will force the non-stop mode if you un-check that option... Let us know your findings.
The St-link server allows you to connect multiple ST-LINK to one computer. Or to have multiple PC application connect simultaneously to the same ST-LINK (like CubeIDE + CubeMonitor). I dont think this is what you are looking for?
You are simply looking to debug one STM32 usnig one ST-LINK connected to the RPI. And you only expect to be able to connect with CubeIDE (or other IDE/debug front-end) at the time?
If so, you don't need st-link server. Only ST-LINK gdb-server or OpenOCD... Sounds like you already have some progress with this, but stuck on non-stop mode?