In the site root, run:
composer config --json --merge extra.installer-paths '{".vscode/extensions/{$name}": ["type:vscode-extension"]}' && composer config --json --merge extra.installer-types '["vscode-extension"]' && composer config scripts.vscode-setup "VscodeDrupal\\Install::postPackageInstall" && composer require augustash/vscode-drupal && composer vscode-setup
Visit your extensions panel within VSCode and install the "Drupal Extension Pack".