Pi Pico SDK/Cross Compile Solve Missing Header Issues (vim/vscode + cmake)

I (bumbling beginner) set up the Pico SDK and ARM cross compiler following the instructions on Github and was left with missing header issues. Perhaps I did something wrong or unorthodox, but I solved it by telling my language server exactly where the header files reside! This probably applies to most custom IDEs or cross compilation builds. Same issue happened to me with VScode.