@altineller Yes, we do support WiFi but not on the STM32L4 Discovery kit IoT. For the moment, we have WiFi only on the ESP32 and ESP32-S2, and we plan to support it someday soon on the Arduino Portenta H7.
For any further question, as suggested by @gbiggs, please contact us via ROS Answers or by Slack or opening an issue in one of our repos!