How to see LOG_xxx() messages from custom board software when connected to nRF52840DK for flashing and debug?

Is it possible to see LOG_INF() or LOG_ERR() messages from custom board software when the custom board is connected to a nRF52840DK through connector P20?  The custom board is connected by the usual P20 wired connections VDDnRF', VTG, SWDIO, SWD_CLK, RESET, GND_DETECT for flashing and debug. The nRF52840DK is connected to the latest nRF Connect SDK for VS code.

If this is possible, what additional wired connections or Devicetree configuration would be required?  My hope is that this can work like running the same software on the nRF52840DK.

Thank you,

Ken

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