Yukon UART Query


I have just got myself a Yukon and I am trying to figure out a method to enable commutation over UART with a Jetson Nano.

I currently have this working on a Pico W as per image below using UART but want to swap this for the Yukon, I am not sure the best way to go about this using the Yukon. Is there a way of leveraging the expansion header to do this or would I need to buy a prototype module to achieve this?

The expansion headers don’t supply UART. But if you look at the pinouts you can see that various slots do expose the UART pins of the Pico.