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

missing 'Ac6 STM32 Debugging' Debug configuration in Debug perspective

... and this is Debug Configuration panel in System Workbench for STM32 that I’ve just installed on Linux box.

Here I can Debug with no effrort.

I’ll make do having both eclipse and System Workbench for STM32 and target debugging with System Workbench for STM32 only.

Not much of a problem here.