Debug/Develop Firebase remotely with vs-code or anything

I heard about emulators and they are really cool for developing and debugging.
Unfortunately, we can’t use them for our real case and the reason next: we have dozens of integrations and making everything to work locally almost impossible or will take too much time. Currently we have to redeploy functions after every change (deploy takes us 5-6 minutes, because of related libraries)
I’m trying to find a different solution, here is what I have:

And the main question how to apply all mentioned earlier to Firebase project?
I’ll appreciate any directions, examples, experiences, docs, or other ways to solve our problem.