Usually this requires a proprietary SWD debugger like ST-Link/V2. @firstname.lastname@example.org has recently implemented bbg-swd, a SWD debugger on top of OpenOCD that runs on BeagleBoard devices using PRUSS (auxiliary real-time processors on TI SoCs).
I'm using PocketBeagle and some Dupont wires. Hope this would work without any soldering.
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