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It’s not STM32, but Wowki is amazing for this sort of thing: https://wokwi.com.
There's also stm32-emulator. Originally developed for 3D printer firmware reverse-engineering, but should work for other stuff as well. Basically QEMU + SVD parser + emulated peripherals.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.