I am using arduino ide (1.8.16 and 2.11) on Ubuntu (22.04 and 23.04. I find for all combinations that sketches will not upload to pico when using the Arduino Mbed OS RP2040 Boards but work fine with the Raspberry Pi RP2040 Boards.
Eventually I found that to fix this I needed to apply the process in https://support.arduino.cc/hc/en-us/articles/9005041052444-Fix-udev-rules-on-Linux#mbed-os
nb remember to set the execute flag on the downloaded file post_install.sh
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