Which launcher should be used if the client doesn't support the customized sessionID and custom message?

You can try out the vsDebugServer, which spins up a server on a separate port instead of using session IDs for messages. Here's the config/message that comes down when a child session is ready for attachment:

Lines 111 to 123 in d8fcf56

    
           childAttachConfig[ 
        
             '__jsDebugChildServer' 
        
           ] = (result.server.address() as net.AddressInfo).port.toString(); 
        
           // Custom message currently not part of DAP 
        
           parentSession.connection._send({ 
        
             seq: 0, 
        
             command: 'attachedChildSession', 
        
             type: 'request', 
        
             arguments: { 
        
               config: childAttachConfig, 
        
             }, 
        
           });

The comments in the flatSessionLauncher mention stdin/out communication. How do you launch it to use stdio communication instead of TCP?

by not passing a port when calling node flatSessionLauncher [port]

Is there an issue in the debug-adapter-protocol repository that suggests a sessionID protocol extension or something like that - or is the intention that this multi-session handling will only ever work with Visual Studio and Visual studio Code?

Not right now. I'll talk to Andre and open an issue there after the holiday (monday)

	childAttachConfig[
	'__jsDebugChildServer'
	] = (result.server.address() as net.AddressInfo).port.toString();

	// Custom message currently not part of DAP
	parentSession.connection._send({
	seq: 0,
	command: 'attachedChildSession',
	type: 'request',
	arguments: {
	config: childAttachConfig,
	},
	});

DAP documentation #902

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