Is there a way of communicating with Nucleo board using PC via its onboard USB connector?

I am working on a project which involves NUCLEO-F042K6 development board. Nucleo should communicate with peripherals over UART and send/receive data to/from PC. For communicating with Nucleo I should use Docklight software tool.

Unfortunately, all Nucleo's UART ports are used for communication with peripherals, therefore, there is no more available UART ports.

My idea is to utilize onboard USB connector which is used for programming ST microcontroller via ST-Link V2-1 (which is also on the board).

I found some examples online which confuse me, and I am not sure where to start solving this problem.

https://preview.redd.it/zr7o40kjp2rc1.jpg?width=1080&format=pjpg&auto=webp&s=8b8638a2434901fcbdf39f6fccee9e57b8e6965c