As you probably know, JTAG was originally developed for testing boards/assemblies, and debugging was added later. In your case you need a JTAG host to access a JTAG slave, which is usually not implemented in microcontrollers.
To answer your questions: The JTAG port can only be used for debugging and testing the STM32. You could try implementing a JTAG host with bit banging, but it's not an easy task.
Good luck!
If the problem is resolved, please mark this topic as answered by selecting Select as best. This will help other users find that answer faster.
/Peter
In order to give better visibility on the answered topics, please click on Accept as Solution on the reply which solved your issue or answered your question.