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In general, a bare UART serial port (same Tx and Rx lines) cannot be shared by multiple devices since it does not have medium access control.

You have the possibility of connecting multiple MCU to a single micro-ROS Agent using a serial port for each MCU using the multiserial Agent feature. You will need to use something like:

ros2 run micro_ros_agent micro_ros_agent multiserial [args]

If you want to use a serial communication device that allows address and multidevice medium access (SPI, RS485...) you can create your own micro-ROS transports for both Client and Agent, please check this tutorial.