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 two short videos (registration required) highlighting:

System Workbench for STM32

How to use multiple ST boards simultaneously


Jack Wrote
BTW ... When I use ST-LINK utility, and do a Target→Connect it prints the device serial number as part of the connect info

My response
Yes, you are right, only if you are under Windows
I am just proposing a solution that works for all Win/Linux/Mac users