I'm currently trying to do this on my little stack of Pi Zero and Zero 2 boards. I remember at some point this worked great, and then I couldn't get it to work again. So far I'm not having any success. The Pi doesn't show up as a USB device using lsusb on the host. Working my way through a stack of micro-usb cables. Maybe they all are charge only. Anyone have recent success with 64-bit Raspberry Pi OS and Ubuntu on the host end?
