Using version 1.66.2 of VS Code, I can't see the debug toolbar.
I've tried changing it in the settings from floating to docked to hidden and back to floating, restarted the program, but I still cant see it.
My debug tool bar disappeared even though the "Run and Debug" option inside the context menu of Run and Debug was checked:

The solution is to go Visual Studio Code settings and find Debug inside Features section:

Then find Debug: Tool Bar Location setting: mine was set to floating. After I've changed its value to docked I can see toolbar again:

The problem for me was that the "Run and Debug" menu was unchecked for some reason.
Right-click on the menu bar and check it.

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