Windows 7 support has been dropped in newer versions of Nsight, (see here) basically anything that was released in 2020 or newer. So you're stuck with older versions. Older versions will also have a support chart like the one I previously linked which explains the supported debug scenarios. Generally speaking, single GPU debug as you describe should be possible with a "newer" GPU like Kepler or newer.
The last Nsight version that supported Win 7 is 2019.4 and the associated documentation indicates support for single GPU debugging.
Note that in the 2019.x timeframe, the Nsight tools had both a "legacy" and "next gen" debugger, and the one you should use will depend on which GPU you are using (and possibly driver model WDDM/TCC), see here.
Also note that the last CUDA toolkit that had official support for VS 2010 was in the CUDA 9.x generation.
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