Issue with Setting up the Display for SIH as SITL

I see there is a way to connect jmavsim for SIH hardware, anyone has any idea how I can connect to jmavsim once I launch SIH as SITL (without hardware).

I am referring to this page: Simulation-In-Hardware (SIH) | PX4 Guide (main)

I see connecting over the UDP port for the custom mode makes Jmavsim work.

INFO [mavlink] mode: Custom, data rate: 400000 B/s on udp port 19450 remote port 19410.

The correct command to launch:
/Tools/simulation/jmavsim/ -o -u -p 19410