USB DFU in SDK 2.0 or later

Hello,
Is there any documentation anywhere on USB DFU in SDK 2.0 or later?
I once implemented USB DFU in SDK 1.4, but it seems to be different from that time.

 Device Firmware Update (DFU) with MCUBoot bootloader 

I'm working with the readme.rst of zephyr/dfu in the sample project, but I can't seem to get dfu-util.exe to work.
Any hints would be appreciated.

The specification of exe in the upload file is intentional. This is because I am first checking to see if the device is recognized.

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