Hi @jfbron. You should be able to fix the problem by following this procedure from the Arduino Help Center to create the necessary udev rules file:
https://support.arduino.cc/hc/en-us/articles/9005041052444-Fix-udev-rules-on-Linux#mbed-os
Even though that only mentions Arduino's own Nano RP2040 Connect board, the script is also used for the Raspberry Pi Pico. I believe it will also solve the problem for you even if you are using the 3rd party "Raspberry Pi Pico/RP2040" boards platform from Earle F. Philhower, III instead of the official "Arduino Mbed OS RP2040 Boards" platform.