Here is somethig you might find useful: automatic pio assembly -> h file generation for platformio.
I have tested it on Linux only.
This is the state as of Nov 2022. The arduino core for RP2040 will most likely change in the future and make this method obsolete.
The pioasm tool by earlephilhower has been removed from the official Platformio repository, thus installing it requires choosing the correct version (OS) from the releases and providing a direct link to the package.
Visit the tool release page: