I contact you because I'm working on LSP4IJ, a free LSP client support for IntelliJ, CLIion, etc
With LSP4IJ you can configure easily a language server (without developping an IJ plugin if you wish)
Please read https://github.com/redhat-developer/lsp4ij/blob/main/docs/user-defined-ls/erlang-ls.md
I suggest that you try and if you like, perhaps you could update https://erlang-ls.github.io/getting-started/intellij/
In 0.10.0 LSP4IJ, DAP support will be provided https://github.com/redhat-developer/lsp4ij/blob/main/docs/dap/DAP.md
You could perhaps try it with your Erlang DAP server if you wish.