Your configuration is incorrect: do not use supervisor in the debug mode, because you have 0 workers in it. Your num_workers configuration option is ignored. Workers in debug mode are allocated per request.
Docs about debug mode: https://docs.roadrunner.dev/docs/php-worker/developer#debug-mode
Docs about debugging with XDEBUG is here: https://docs.roadrunner.dev/docs/php-worker/debugging