Should be straight forward from the HW side. Enable the UART, connect the modul by crossing TX/RX. Because the Rock 3A has much more UARTs then a Pi, I would recommend to use another one, not UART2. This is connected to the debug output and even the boot loader might send data to it. Select one of UART0 / UART3 / UART5 / UART7 / UART8 / UART9. Enable it by loading the matching dto.
Then the PI software might run if it doesn’t use to much PI specific code.