Hi @esalaak
Sorry for the delayed answer.
I tested this on my side and it works pretty well with one exception.
So I used a viola board with a iMX7 (you could any module) and connected to UART B. So this will be my debugging machine. On other side, I connected a USB to UART to the OTG Port of iMX6, which is the target to be debugged.
On target module side, you change the console to ttyUSBx and then reboot. Then you can SSH to your debugging machine and start a screen or minicom session to see all the debug messages and also do debugging.
The only thing is you don’t see any U-boot messages. For this, you have to recompile/reconfigure U-Boot.
A different approach would be to use the serial console over OTG Gadget device port.
I hope these answers help you.
Best regards,
Jaski