Because competition is good, I want to quickly name-drop VS Code here, which has had _excellent_ integrated node debugging for quite a while now. It integrates seamlessly with the entire tool ecosystem (eg I use ts-node-dev for autoreloading + typescript support, and the VS Code debugger Just Works). And because it's inside the editor, ndb features like the ability to put breakpoints in a file before it is required are irrelevant. It's all at your fingertips, just put a breakpoint right where you're coding, hit F5 to attach the debugger to your devserver and step through the code.

It's a pretty amazing experience, finally putting Node at the same level as, say, PHP with XDebug and NetBeans in 2006. Of course reloads are still slower, but that's all. JS is getting there!