Answering the original question
To enable debug draw visualization outside CVD (which is new as Beta since 5.4)
These two cvars should enable the visualization in Editor (or development packaged builds. It is compiled out in shipping).
p.Chaos.DebugDraw.Enabled 1
p.Chaos.Solver.DebugDrawShapes 1
I am not aware of any issues in UE 5.3, but I will check and report back.
If these 2 cvars show debug draw for each collision shape, then maybe it is a specific collision flag that has the issue (there are several)