Hi, the Chaos Visual Debugger is not related to any of the existing debug draw features, it is its own editor tool and recording visualization tool.
Although we don’t have anything specific for vehicle debugging in CVD (for short), you should be able to see all physics bodies and their state.
Here is the documentation for the 5.4 version
And for the 5.5 version Chaos Visual Debugger - User Guide for UE 5.5 | Tutorial