In this guide, the author shares a Linux feature called USB gadget mode that enables Raspberry Pi users to connect to the computer directly over USB, without the need to configure WiFi or connect any peripheral devices. By adding a few lines in the configuration files and running a couple of commands, users can establish an SSH connection to the Pi via USB. This feature works on the Pi Zero and has been tested on the Raspberry Pi 4, as long as users connect via the USB-C connector. The author notes that most users will likely use the onboard WiFi to connect their Pi to wireless networks.
https://howchoo.com/pi/raspberry-pi-gadget-mode