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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


Trouble launching debugger after upgrade to Eclipse 2020-3

I don’t think your issue is because of the tool version.
It looks like the debugger can’t communicate with your board. There is a ST tool (STM32 STLink Utilities) to check if your machine can connect to the board : https://www.st.com/en/development-tools/stsw-link004.html.Question

Also verify that the switch on your board are connected to use the ST-Link and every drivers are well-installed on your machine.

Regards.