We are using STM32F091RCH7 microcontroller in our design and STLINK-V3SET programmer. A 14 pin JTAG connector is used. Pins 13 and 14, which are T_VCP_RX and T_VCP_TX have been left unconnected. Is it good to go?

JTAG pins are mapped as shown in the attachment. Please review and provide your comments.

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You can leave T_VCP_RX and T_VCP_TX disconnected. They are not needed.

Not sure if JTDI is needed for JTAG or not.

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Pretty sure none of the CM0 devices support JTAG, and definitely not the TDO/SWO (PB3) pin

Providing access to the VCP on CM0 might be advisable. Can always mix an inbound UART with a diode AND circuit, signal is idle high

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