What I miss from vscode is the remote functionality, can you do it with emacs? For neovim there is distant.nvim, but idk if it is mature enough and configuration seems a bit annoying...
I use TRAMP to edit code loaded on robots occasionally. One advantage compared to VSCode is that it doesn't require the installation of anything onto the computer you're connecting to, since it uses the usual linux tools to work. But it can freeze up once in a while.