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IWR1843BOOST: Uart pin connection to 20-pin connector

Part Number: IWR1843BOOST
Other Parts Discussed in Thread: IWR1843, IWR6843, MMWAVEICBOOST

I am trying to connect one external module (esp32) to IWR1843 to transmit the UART data through BLE/wifi. I want to know the PINs on the 20-Pin connector (J5/J6) to which, I should connect the UART TX and RX pins of esp32.