How to Setup VSCode for Rule development

I am new to SailPoint development. I have many use cases where I will need to develop Cloud based rules. I was wondering if there is a way to set up VSCode in such a way that I would be create the rules while being able to debug them before we have to engage Expert Services. The main use cause here is to control cost around burning through Expert Services hours while debugging rules. Has anyone figure out how to set up a Rule Development Environment?

I have done a number of searches and all I have been able to find is engage Expert Services. This poses a number of challenges for my team currently and I am trying to figure out how to balance when we engage with Expert Services to only when we need there help.

Any ideas out there for being able to better learn how to create Rules and test them?