VSCode works well, both for command line stuff via node.js or Deno, and for (remote) browser debugging:

https://code.visualstudio.com/docs/typescript/typescript-deb...

https://code.visualstudio.com/docs/nodejs/browser-debugging

The JS-to-TS mapping is handled through source map (so you're 'debugging' the TS code, even though it's JS under the hood).

(also, in case you're not aware, browsers have a builtin debugger in their devtool panel, these also have source map support, but this may require some tinkering)