Either STLINK-V2 or STLINK-V3 could be used to debug STM32MP1 series (STLINK-V3 will bring an UART Virtual Comm Port if suitable connector such as STDC14 is present on your own board).
STLINK-V2 embedded is on EV1, DK1/DK2 boards ('embedded' version bring VCP).
Platform debug usually also requires an UART console connection (such as VCP) and Ethernet (or Ethernet over USB).
Note that in opposition to STM32 MCUs, the platform flash programming of STM32 MPUs are NOT done using ST-LINK, but rather use directly USB (still using STM32CubeProg).
See https://wiki.st.com/stm32mpu
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