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

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Another reason for this might be caused by the type of USB port the board is plugged into.
I have found that the ST-provided “ST-Link Utility” will work with Nucleo/Discovery ST-Link plugged into any type of USB port. However, the version of OpenOCD provided with SW4STM32 does not work with ST-Links that are plugged into USB3-capable ports.

Try plugging your board into a USB2-only host port and try again.