Is there a way to list the connected devices on my wifi access point?

You should use iw dev wlan0 station dump as root

You could Use "arp" as root:

$ sudo arp

You can also find list of connected devices to your AP by using this command:

cat /var/lib/misc/dnsmasq.leases

dnsmasq.leases file lists all the devices which connected to AP so far. Also you can get list of all devices which connected to your device over WiFi or Ethernet by using this command:

sudo arp