Unable to connect to STM32F730 with STM32CubeIDE, works with ST-LINK utility

I have connected swclk/swdio and ground in my project to an ST Discovery in ST-Link mode. Reset is not connected. It works perfectly with ST-LINK Utility with "connect under reset" setting. When trying to connect with openocd debugger in STM32Cube IDE I get:

Error: timed out while waiting for target halted

When using ST-LINK GDB server I get:

Target Reset error

I think I have tried all the different settings in the debugger GUI. Also tried editing openocd config and set "reset_mode none". Same error.

Any ideas?