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SW4STM32 and SW4Linux fully supports the STM32MP1 asymmetric multicore Cortex/A7+M4 MPUs

   With System Workbench for Linux, Embedded Linux on the STM32MP1 family of MPUs from ST was never as simple to build and maintain, even for newcomers in the Linux world. And, if you install System Workbench for Linux in System Workbench for STM32 you can seamlessly develop and debug asymmetric applications running partly on Linux, partly on the Cortex-M4.
You can get more information from the ac6-tools website and download (registration required) various documents highlighting:

System Workbench for STM32


Redirect printf for STM32L476 Discovery?

sprintf coem wsith defeual gcc lib it’s not very big and you shoudl have penty of flash with the l476

uart TX wit DMA is trivial just grab the code from the sample (if yu sue cueblx you ned to enabel uart interutp and TX dma channel)
reception untils some char is not suited for dma that just does fxie size xfer
but you can do this by using chatr by char interrupt base rx and checking for last one in the hal callback or reckign one lmore byte reception.

if you need print (not scan) for debug it coudl be more convenient and less intrusive (faster no uart needed) to use itm trace
trace view is not integrate in eclispe/opencod but you can use stlink utiity for that.
You lose ability to debug at same time but speed is quite good (2MHz spi like) thsi can be almost be Real time trrace if you send single char.

last you can use semihosting that provdie i/o (not only console but also file access) in host system via the debug link
but this is relatively slow , it require ssome extra coding lib (rdimon) etc ...
you may find all that in the gnu arm eclispe template or even maybe on sw4stm32 templates.