I'll try to give a solution based on the relevant exercises in Tao's "An Introduction to Measure Theory".
Exercise $1.3.24$: Show that a function $f: \mathbb{R^d} \to \mathbb{C}$ is measurable if and only if it is the pointwise almost everywhere limit of continuous functions $f_n: \mathbb{R^d} \to \mathbb{C}$.
proof: If $f: \mathbb{R^d} \to \mathbb{C}$ is measurable. Let $\epsilon > 0$.By exercise $1.3.25$, $\forall n \geq 1$, there is a measurable set $E_n \subset \mathbb{R^d}$ of measure at most $\frac{1}{2^{n+1}}$ s.t the function $f \cdot 1_{B(0,n)}$ is locally bounded outside of $E_n$. In particular, this implies that $\exists M_n < \infty$ s.t $|f(x) \cdot 1_B(0,n)(x)| \leq M_n$ on $B(0,n)\setminus E_n$. Then since $\int_\mathbb{R^d} |f \cdot 1_{B(0,n) \setminus E_n}| \leq \int_\mathbb{R^d} M_n \cdot 1_{B(0,n) \setminus E_n} < \infty$, the function $f \cdot 1_{B(0,n) \setminus E_n}: \mathbb{R^d} \to \mathbb{C}$ is absolutely integrable. By Theorem $1.3.20$, there exists a continuous, compactly supported function $f_n$ s.t $||f \cdot 1_{B(0,n) \setminus E_n} - f_n||_L{^{1}}(\mathbb{R^d}) \leq \frac{1}{n \cdot 2^{n+1}}.$ WLOG, we assume that $f_n$ is supported on $B(0,n) \setminus E_n$. By Markov's inequality and sub-additivity of the lebesgue measure, we have that: $m(\{x \in B(0,n): |f(x) - f_n(x)| \geq 1/n\}) = m(\{x \in \mathbb{R^d}: |f(x) \cdot 1_{B(0,n)}(x) - f_n(x)| \geq 1/n \}) = m(\{x \in \mathbb{R^d}: |f(x) \cdot 1_{B(0,n) \setminus E_n}(x) - f_n(x)| \geq 1/n \} \cup \{x \in \mathbb{R^d}: |f(x) \cdot 1_{E_n \cap B(0,n)}(x)| \geq 1/n \}) \leq \frac{n}{n \cdot 2^{n+1}} + \frac{1}{2^{n+1}} = 1/2^n.$
Now, we have shown that for every $n \geq 1$, there exists a continuous function $f_n: \mathbb{R^d} \to \mathbb{C}$ for which the set $\{x \in B(0,n): |f(x) - f_n(x)| \geq 1/n\}$ has measure at most $1/2^n$. Let $A$ be the set on which $f_n \not\to f$ pointwise. Then $A = \cup_{m=1}^{\infty}\cap_{n=1}^{\infty}E_{n,m}$, where $E_{n,m} = \{x \in \mathbb{R^d}: |f(x) - f_n(x)| \geq 1/m \}$. Note that for any $m \geq 1$, $\cap_{n=1}^{\infty}E_{n,m} \subset \{x \in B(0,n): |f(x) - f_n(x)| \geq 1/n \}$ for sufficiently large n and all $n' \geq n$, and thus $m(\cap_{n=1}^{\infty}E_{n,m}) \leq 1/2^n$ can be made arbitrarily small by sending $n \to \infty$, and we have $m(A) = 0$ as desired.
Conversely, if $f$ is the pointwise almost everywhere limit of continuous functions $f_n: \mathbb{R^d} \to \mathbb{C}$. Then $f$ is measurable by (i) and (iv) of exercise $1.3.8$.