They are all compatible but going beyond the EDU mini doesn’t really make sense for this board. The more expensive ones download code faster, which is useful if you are flashing large code multiple times a day. The other ones have a higher interface and bandwidth speeds which again probably wouldn’t be useful. I’ve tried out 3 different JTAG programmers (jlink, FTDI and Altera blaster) and they see the vega board no problem.
I couldn’t get the OpenSDA working for anything other than serial. I see that it sees the board as a file system but when I drag a .bin across it reboots with fail.txt > “Unable to reset/halt target MCU”. OpenOCD from: https://github.com/open-isa-rv32m1/rv32m1-openocd
Doesn’t seem to have interfaces from cmsis-dap. I briefly tried out pyOCD which recongnized a kinetis board (I think Micro:bit) but err’d out.
Any JTAG will work mind you, I just use an Altera usb blaster with a SWD connector.