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I want to be able to detect if a certain device with a given MAC address is on the network, without requiring that the testing device's interface has an IP address at all. One way I could do it is by sending a DHCP discovery packet and checking the MAC address of the DHCP server, although this is limited to discovering the DHCP server only. I also looked up protocols like LLDP, but it seems like that requires a daemon running on the device being probed to respond to the messages.
I have used arping in the past to use ARP messages (so layer 2 only) to 'ping' an IP address, but this still requires an IP address assigned to the interface. I need some kind of l2ping, which pings a MAC address and sees if it gets a response.