On some custom kernels, you can run adb targeting your own device:
su
setprop service.adb.tcp.port 5555
stop adbd
start adbd
adb connect localhost:5555
adb shell
Note: Not all ROMs allow this without patching.
Upd Download ADB Fastboot for Android NDK Magisk Module
Boot the target phone into bootloader mode. Connect via USB-C OTG.
In this context, UPD stands for Update. Because Google releases new Platform Tools (ADB/Fastboot) frequently, the module must be updated to the latest version to support new Android releases (Android 13, 14, 15) and security patches.