How about using UART0 and UART2 at the same time? If this meets your need, you can try.
You need to do the following steps.
Use system image, rockpis_debian_buster_minimal_arm64_191219_0406-gpt.img
enable UART0 and UART2 in file, /boot/hw_intfc.conf
intfc:uart0=on
intfc:uart1=off
intfc:uart2=on
And comment this line in file, /boot/hw_intfc.conf
#intfc:dtoverlay=console-on-ttyS0
Delete the following strings of command line in file, cat /boot/extlinux/extlinux.conf
earlyprintk console=ttyFIQ0,1500000n8
And the final content is this.
root@rockpis:/# cat /boot/extlinux/extlinux.conf
timeout 10
menu title select kernel
label kernel-4.4.143-34-rockchip-g3c9d2019dba7
kernel /vmlinuz-4.4.143-34-rockchip-g3c9d2019dba7
initrd /initrd.img-4.4.143-34-rockchip-g3c9d2019dba7
devicetreedir /dtbs/4.4.143-34-rockchip-g3c9d2019dba7
append rw init=/sbin/init rootfstype=ext4 rootwait root=UUID=ced8410b-05fb-4347-b0ae-ad2065c7d629
Reboot. and Use adb to access ROCK Pi S.