Yes. I have a custom STM32F429 board and I can debug it with any of:
I haven’t tried my STM32L476-Discovery, but I expect it will work as well.
I open the jumpers, connect to the board, and it just works. Make sure to correctly select if the board has STLinkV2 or STLinkV2-1,
and set the interface to SWD (these boards don’t do JTAG).