uf2 is a Microsoft standard format that is well-described here: GitHub - microsoft/uf2: UF2 file format specification
There seem to be "many" converter programs (elf, bin, hex, etc), but most of them are distributed in source (python, rust, etc) and so would require some environment on a PC to produce an executable. The Arduino IDE has a pre-built version of one of them in .../tools/rp2040tools/1.0.2/elf2uf2 - I don't understand the comment about "the plugin crashing" - this should be a standalone executable:
./elf2uf2
Usage: elf2uf2 (-v) <input ELF file> <output UF2 file>