STM32 Nucleo-G431RB remote debug over Raspberry Pi - Could not verify ST-device

Hi! I am trying to establish workflow where team can connect to one remote board to develop and debug it with STCube IDE. Currently I'm using Raspberry Pi 4b as a server. The thing is, when I connect Nucleo directly to my laptop - everything works fine but when connecting over remote I get could not verify St device. Anyone has any idea how to fix this? Attaching openocd config and error message screenshot. I've tried building openocd from ST repository and openocd repo, master and release versions, also tried to build gdb server 13 from sources for both raspberry and arm toolchain for Mac and setup accordingly in STCube IDE.