Run this in shell:

echo 'if (interactive() && Sys.getenv("RSTUDIO") == "") {
  source(file.path(Sys.getenv(if (.Platform$OS.type == "windows") "USERPROFILE" else "HOME"), ".vscode-R", "init.R"))
}' >> ~/.Rprofile

Or run this in R so it can immediately solve the problem in current R session:

# Add text to ~/.Rprofile
writeLines('if (interactive() && Sys.getenv("RSTUDIO") == "") {
  source(file.path(Sys.getenv(if (.Platform$OS.type == "windows") "USERPROFILE" else "HOME"), ".vscode-R", "init.R"))
}', con = "~/.Rprofile")
 
# Source ~/.Rprofile
source("~/.Rprofile")

Reference: https://github.com/REditorSupport/vscode-R/issues/1094#issuecomment-1118440502