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Water111 and Luminar Light released a version of PCSX2 that allows users to boot Jak and Daxter TPL with the full in-game debug menu options active. The menu gives users access to developer tools that are used during the debugging process, such as disabling textures, editing camera options, viewing collision, hitbox, and map wire mesh, and many other crazy options.
The PCSX2 version is available in the JakSpeedruns Tools and References section on the Home page, along with everything else needed to get it up and running.