Thanks for pointing me in the right direction.
2 Follow on questions:
for the RB5 specifically, do you suggest using the main usb-c port, or the modem carrier board J12 usb connector, or do I need to replace the modem carrier board with the VOXL USB Expansion?
Is there a pinout for the modem carrier board on the RB5, as opposed to the main 'flight carrier board'? I only know that the J12 modem carrier connector is a usb connection because of this photo on the functional description page: https://docs.modalai.com/images/datasheet/RB5/rb5-labeled-2.png