Debugging Python scripting for testing Embedded system connected with Rasbperry pi (RPi)

I am looking to test embedded system product using Python scripting and I need some guidance.

The setup: A Raspberry pi have been connected to the embedded system PCB and I access that Raspberry pi remotely using ssh or vncserver.

The issue: I am using PyCharm on my laptop to access the Python scripts. Since the embedded system is connected to Raspberry pi, I am not able to debug using my laptop as I would not be able to get the values of variables etc while debugging. So I installed PyCharm on RPi but it keeps on crashing frequently which I guess is because RPi is not able to take that much load as it also connected to VNCServer while using PyCharm.

What I am looking for: Some guidance how to debug in such a case so I can test whether scripts have issue or device is faulty or something else. A better and efficient method for debugging in such a scenario where there are multiple layers.

I have limited exposure so I may be missing out something. Please feel free to correct me.

Thanks.