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https://hyperdbg.org and m1n1 (Apple Silicon) spring to mind as modern supervisor/hypervisor debuggers.
There's nothing modern I'm aware of that lets you press a key combination to get into a hypervisor debug UI like softICE was known for, though. It's all shifted to host-and-target debugging. You'd use a "normal" debugger on one machine (lldb/gdb, WinDbg, IDA, etc.) and either supervised host-to-target connection (network-to-kernel/hypervisor on x86, OCD like JTAG/SWD/CoreSight on embedded) or emulation (for pretty much everything but device driver development).
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