It looks like code region for crypto is too small for debug version mbedtls.
check below logs:
Error: L6221E: Load region LR_CODE with Load range [0x100c0400,0x1010ae84) overlaps with Load region LR_VENEER with Load range [0x100ff900,0x100ffb40).
Error: L6221E: Execution region TFM_SP_CRYPTO with Execution range [0x100dbca0,0x10104ff8) overlaps with Execution region ER_CODE_CMSE_VENEER with Execution range [0x100ff900,0x100ffb40).
Finished: 0 information, 34 warning and 2 error messages.
app/secure_fw/CMakeFiles/tfm_s_1.dir/build.make:142: recipe for target 'app/secure_fw/tfm_s_1.axf' failed
make: * [app/secure_fw/tfm_s_1.axf] Error 1
CMakeFiles/Makefile2:399: recipe for target 'app/secure_fw/CMakeFiles/tfm_s_1.dir/all' failed
make: * [app/secure_fw/CMakeFiles/tfm_s_1.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2