Serial communication with OTG port

Rock Pi 4B+, Official Ubuntu Image.
I want to use the USB3 OTG port to communicate with my computer. My computer will have a program to communicate with the rock pi. I am planning to use bi-directional communication of maybe USB3 streaming protocol or serial so the rock pi can send data while at the same time, my computer can send data. Why I don’t just use Wi-Fi? I just want to learn how to use this OTG feature properly so in case I need it in the future I have experience doing so. And let’s say my rock pi and my computer constantly send heavy data to each other.