'wpa_supplicant WIFI-Direct list connected devices

Is there a way to list the devices connected through WIFI-Direct with wpa_supplicant?

This answer suggest checking for connected devices with nmap however on my device I encounter a bug with nmap hanging and unfortunately could not get the timeout to work with nmap either. Maybe I also observe this bug.

So the question I ask is whether there are other means, ideally directly with wpa_cli, to get a list of devices connected through WIFI-Direct?

wifi-directwpa-supplicant


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