To help address the growing demand for highly qualified and licensed K-12 CS teachers, many US states offer an endorsement pathway through the Praxis Computer Science test. However, the test presents significant challenges for teachers with limited prior experience in programming, especially due to its use of an unfamiliar pseudocode notation. Over the past three years, a research-practice partnership (RPP) including nonprofit educators, in-service teachers, and university researchers have developed a “Praxis Prep” professional development course. Central to the latest iteration of the course is Pico, a web-based IDE built specifically for the Praxis test’s pseudocode. In this experience report, we describe the evolution of Praxis Prep, the integration of Pico, adjustments to the technical aspects of the course, and reflections from participating teachers across two cohorts. We share lessons learned about sequencing instruction, addressing diverse learner backgrounds, fostering community and learner engagement, and creating productive opportunities for teachers to learn programming concepts and the pseudocode notation. This paper offers insights and guidance for other professional development providers supporting teachers on the pathway to CS licensure.