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IWR6843ISK: Installing serial driver for raspberry pi demo

Part Number: IWR6843ISK

I'm using rpi400/rpi4, following the Remote Stream Tool demo: dev.ti.com/.../node

However, on my RPI I do not see 2 USB ports. I see:

~$ dmesg | grep "tty"
[ 0.000000] Kernel command line: coherent_pool=1M 8250.nr_uarts=1 snd_bcm2835.enable_compat_alsa=0 snd_bcm2835.enable_hdmi=1 bcm2708_fb.fbwidth=0 bcm2708_fb.fbheight=0 bcm2708_fb.fbswap=1 smsc95xx.macaddr=E4:5F:01:07:54:98 vc_mem.mem_base=0x3ec00000 vc_mem.mem_size=0x40000000 elevator=deadline net.ifnames=0 console=ttyS0,115200 dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 rootwait fixrtc quiet splash quiet splash
[ 0.000273] printk: console [tty1] enabled
[ 1.505079] fe201000.serial: ttyAMA0 at MMIO 0xfe201000 (irq = 14, base_baud = 0) is a PL011 rev2
[ 1.509591] printk: console [ttyS0] disabled
[ 1.509620] fe215040.serial: ttyS0 at MMIO 0x0 (irq = 16, base_baud = 62500000) is a 16550
[ 1.523278] printk: console [ttyS0] enabled
[ 6.537357] systemd[1]: Created slice system-serial\x2dgetty.slice.

I think both ttyS0 and ttyAMA0 are not USB serial (1 is gpio and 1 is Bluetooth)

Then I found this forum post: https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/753065/awr1642-can-i-use-serial-data-directly/2783733#2783733

It mentioned that I should install cdc_acm and see ttyACM0 and ttyACM1. But I can't find online how to install cdc_acm. Any ideas?

Can I use a breakout board and connect the microUSB port from my IWR6843ISK to the gpio pins (TxD and RxD in this image: https://pi4j.com/1.3/pins/rpi-400.html)?