I'm trying to connect the raspberry pi PICO to the Raspberry Pi 4 and send data via Serial from the PICO to the Pi4.

Every example I see for Circuitpython uses either I2C or UART (i.e. using the pins on the board for Serial communication).

Is serial communication solely via USB possible? I want to only connect the Pico to the Pi4 with the USB cable and no other wires.