By browsing the Stetho source code, it seems like chrome://inspect is using Unix sockets to discover remote debug endpoints on the network.
At least Stetho opening a socket on stetho_PROCESSNAME_devtools_remote, which seem to be the convention used by chrome://inspect, so it should be possible to emulate this behavior by simply probing on sockets with the suffix _devtools_remote.
Link: https://github.com/facebook/stetho/blob/master/stetho/src/main/java/com/facebook/stetho/server/LocalSocketHttpServer.java