Hi, the Chaos Visual Debugger is not related to the existing debug draw features.
Although we don’t have any vehicle specific data in CVD (for short) yet, you should be able to see in it all the physics bodies and their state from your vehicles.
Here is the documentation for the 5.4 version
Note: 5.4 was the first beta release of CVD and it has some issues, but it should work. The 5.5 version is still in beta but more stable and with more features
For general in-viewport debug draw visualization, these cvars should be enough (there are several more to enable visualizations of specific features)
p.Chaos.DebugDraw.Enabled 1
p.Chaos.Solver.DebugDrawShapes 1
What cvars are you using to enable debug draw?