How to launch 3 Dapr services at the same time with debug enabled. You can set breakpoints in all three services and step from one to the other.

launch.json

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "compounds": [
        // For more information, visit: https://code.visualstudio.com/docs/editor/debugging#_compound-launch-configurations
        {
            "name": "All Services",
            "preLaunchTask": "build",
            "configurations": [
                "ServiceA",
                "ServiceB",
                "ServiceC"
            ],
            "stopAll": true
        }
    ],
    "configurations": [
        {
            "name": "ServiceA",
            "type": "coreclr",
            "request": "launch",
            "preLaunchTask": "run_ServiceA",
            "program": "${workspaceFolder}/src/serviceA/bin/Debug/net6.0/serviceA.dll",
            "args": [],
            "cwd": "${workspaceFolder}/src/serviceA",
            "stopAtEntry": false,
            "env": {
                "ASPNETCORE_ENVIRONMENT": "Development",
                "ASPNETCORE_URLS": "http://localhost:5000"
            },
            "postDebugTask": "stop_ServiceA"
        },
        {
            "name": "ServiceB",
            "type": "coreclr",
            "request": "launch",
            "preLaunchTask": "run_ServiceB",
            "program": "${workspaceFolder}/src/serviceB/bin/Debug/net6.0/serviceB.dll",
            "args": [],
            "cwd": "${workspaceFolder}/src/serviceB",
            "stopAtEntry": false,
            "env": {
                "ASPNETCORE_ENVIRONMENT": "Development",
                "ASPNETCORE_URLS": "http://localhost:5010"
            },
            "postDebugTask": "stop_ServiceB"
        },
        {
            "name": "ServiceC",
            "type": "coreclr",
            "request": "launch",
            "preLaunchTask": "run_ServiceC",
            "program": "${workspaceFolder}/src/serviceC/bin/Debug/net6.0/serviceC.dll",
            "args": [],
            "cwd": "${workspaceFolder}/src/serviceC",
            "stopAtEntry": false,
            "env": {
                "ASPNETCORE_ENVIRONMENT": "Development",
                "ASPNETCORE_URLS": "http://localhost:5020"
            },
            "postDebugTask": "stop_ServiceC"
        }
    ]
}

tasks.json

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "build",
            "command": "dotnet",
            "type": "process",
            "args": [
                "build",
                "${workspaceFolder}/src/services.sln",
                "/property:GenerateFullPaths=true",
                "/consoleloggerparameters:NoSummary"
            ],
            "problemMatcher": "$msCompile"
        },
        {
            "label": "run_ServiceA",
            "appId": "serviceA",
            "appPort": 5000,
            "httpPort": 3500,
            "grpcPort": 50001,
            "type": "dapr"
        },
        {
            "label": "stop_ServiceA",
            "appId": "serviceA",
            "type": "daprd-down"
        },
        {
            "label": "run_ServiceB",
            "appId": "serviceB",
            "appPort": 5010,
            "grpcPort": 50002,
            "type": "dapr"
        },
        {
            "label": "stop_ServiceB",
            "appId": "serviceB",
            "type": "daprd-down"
        },
        {
            "label": "run_ServiceC",
            "appId": "serviceC",
            "appPort": 5020,
            "grpcPort": 50003,
            "type": "dapr"
        },
        {
            "label": "stop_ServiceC",
            "appId": "serviceC",
            "type": "daprd-down"
        }
    ]
}