Pixhawk 4 UART/I2C B Port - Telemetry/Companion Computer

I’m using the Pixhawk 4,and might need another way of connecting my companion computer to the pixhawk. I am using MAVROS on my companion computer to receive telemetry. So I’m just wondering if it might be possible to send telemetry data through the UART / I2C B port of the Pixhawk 4. I would just make an adapter using only GND, TX, and RX on this specific port. Thanks for any advice/help on this.