I'm new here. I'm currently working on a custom STM32 development board targetting STM32L021F4. I currently am able to program my board using both an ST-LINK as well as through the embedded bootloader via UART using an FT232RL USB<->UART bridge.
At the moment, I use a switch to toggle the BOOT0 pin high then use an on-board reset button to enter the embedded bootloader. However, I was wondering if it would be possible to use the FT232RL for automatic BOOT0 handling and resetting. From what I've researched so far, it seems STM32CubeProgrammer is the go-to for bootloader programming (I've also tried programs like stm32flash and FLASHER-STM32 but neither seem to be updated as they do not support my model of STM32). I've monitored the DTR and RTS pins to see if they might prove useful for this purpose. There does seem to be some activity on these pins which I thought might be useful:

However, this causes the chip to enter the bootloader mode and then exit it at the second reset, thereby not allowing a connection to be completed. I'm not sure what purpose they are going for here. I can't be the only one who wants effortless USB programming for their STM32, and my chip does not have the option for DFU programming, so has anybody had any luck at getting touchless USB programming working with the embedded bootloader? Thanks!