In the blender Python console, run import sys; sys.executable to get the path to the Blender Python binary. Configure your IDE to use this binary as the project interpreter.
Then run the following, replacing /Applications/.../python3.9 with the path returned by sys.executable above:
git clone https://github.com/bencbartlett/pyblend.git
/Applications/Blender.app/Contents/Resources/2.93/python/bin/python3.9 -m pip install -e pyblend
This will install the package in editable mode and will install the dependencies, including the fake-bpy-module-2.93 which will provide code completion for bpy, bmesh, and related modules in an IDE.