I made script that Draws it children in DrawGizmos. It works pretty well but the selection doesnt really work. When you try to select individual object it always selects the parent. This is partial solution but in case someone can also help with the selection it would be appreciated.

[ExecuteInEditMode]
public class DrawColliders2D : MonoBehaviour
{
    [SerializeField]
    protected bool _filledColliders;

    [SerializeField] protected Color _usedColor = Color.yellow;
    
    private void OnDrawGizmos()
    {
        var colliders = GetComponentsInChildren<Collider2D>();

        
        for (int i = 0; i < colliders.Length; ++i)
        {
            var collider = colliders[i];
            if(Selection.activeObject == collider.gameObject) continue;
            Type t = collider.GetType();
            switch(t.Name)
            {
                case nameof(CircleCollider2D):
                    DrawCircleCollider((CircleCollider2D)collider, _usedColor, _filledColliders);
                break;
                case nameof(BoxCollider2D):
                    
                    DrawBoxCollider((BoxCollider2D)collider, _usedColor, _filledColliders);
                    break;
                default:
                    throw new NotSupportedException("Not supported for " + t.Name);
            }
        }
    }
    
    private static void DrawCircleCollider(CircleCollider2D cCol, Color color, bool fill = false)
    {
        var lastColor = Gizmos.color;
        var last = Gizmos.matrix;
        Gizmos.color = color;
        var scale = cCol.transform.lossyScale; 
        Gizmos.matrix = Matrix4x4.TRS(cCol.transform.position, cCol.transform.rotation, new Vector3(scale.x, scale.y, scale.z * 0.001f));
        var center = Vector3.zero;
        if (fill)
        {
            Gizmos.DrawSphere(center, cCol.radius);
        }
        else
        {
            Gizmos.DrawWireSphere(center, cCol.radius);
        }

        Gizmos.matrix = last;
        Gizmos.color = lastColor;
    }

    public static void DrawBoxCollider(BoxCollider2D bCol, Color color, bool fill = false)
    {
        var lastColor = Gizmos.color;
        var last = Gizmos.matrix;
        Gizmos.color = color;
        var scale = bCol.transform.lossyScale; 
        Gizmos.matrix = Matrix4x4.TRS(bCol.transform.position, bCol.transform.rotation, new Vector3(scale.x, scale.y, scale.z * 0.001f));
        var center = Vector3.zero;
        if (fill)
        {
            Gizmos.DrawCube(center, bCol.size);
        }
        else
        {
            var halfSize = (Vector3)bCol.size * 0.5f;

            var c0 = center - halfSize;
            var c1 = c0 + new Vector3(bCol.size.x, 0, 0);
            var c2 = center + halfSize;
            var c3 = c2 - new Vector3(bCol.size.x, 0, 0);
            Vector3[] points = new[] { c0, c1, c1, c2, c2, c3, c3, c0};
            Gizmos.DrawLineList(points);
        }

        Gizmos.matrix = last;
        Gizmos.color = lastColor;
    }
}