How to untilize DBG_UART12 pins as generic tty device?

[Kyuhyong You]

Hello,
I am trying to use debug pins (GPIO_35_DBG_UART12_RX, TX) on voxl2 as described here.
https://docs.modalai.com/voxl2-connectors/#j3---legacy-board-to-board-connector-b2b

Which /dev/tty can I acess?
If not listed in /dev/tty how can I enable this pin as tty pin?
Is there any alternative way to talk/listen from serial port?
Thanks

Kyu