I have done this several times and it never got stuck for me.. check dmesg and see if you are getting any errors on the NFS mount.. I have done it with Cacko ROM, PDAXROM and OpenBSD without a problem.
As far as I know you can't cross debug but you can use gdbserver to handle debugging on the Zaurus and control the debug session either from gdb or gdbtui (the ncurses flavour of gdb [as close to a gui as I know for gdb ]).
-Andy