How can one efficiently execute a simulink model step by step in time?

Unfortunately, the links in a similar post from 2011 are not relevant.

https://www.mathworks.com/matlabcentral/answers/7267-what-is-the-best-way-to-execute-a-simulink-model-step-by-step-interactively-from-matlab

I need it for co-simulation with an external program.

[Jasvin]

What does efficiently mean in this context, should the overall simulation runtime be minimal? And how do you want to execute the model step by step, similar to how the Debug mode helps you run it, clicking through the Step button to simulate one time-step of the simulation?