Dear Hongyu,
1. Yes, as in Debug mode, the WD period is infinite (= WD window fully opened) meaning no WD error if no watchdog feed.
2. Could you please share your schematic? Are you using all the recommended caps as shown in the AN12995, chapter 3.6?

What is the load connected to VLDO1? Can you disconnect it from VLDO1 and observe if the voltage stabilizes at 3.3V? This can help determine if the problem is due to the SBC itself or an external influence.
BRs, Tomas