dump firmware for from 0x0 ~ 0x4000
this is how you can dump first 16Kbytes
based on this docs, its feel intresting look inside about rom

let's dump it
openocd
this tutorial uses secondary pico, which connected with other pico's
openocd -f interface/cmsis-dap.cfg -f target/rp2040.cfg -c "adapter speed 5000"
after it
telnet localhost 4444
> halt
> dump_image pico_first_16kb_bootloader.bin 0x0 0x4000
show the binary
arm-none-eabi-objdump -D -b binary -marm -Mforce-thumb ./pico_first_16kb_bootloader.bin

another way
let's use GDB stuff, first download this, run as regular gdb debug mode + openocd. then dump

here the intresting part

which part of https://github.com/raspberrypi/pico-bootrom-rp2040/blob/ef22cd8ede5bc007f81d7f2416b48db90f313434/bootrom/bootrom_rt0.S#L48