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nrf9160 custom board - connect UART and send AT commands

I am working on a custom board with the nRF9160 SiP. It comes with pre-programmed modem firmware. Header pins for UART1 and UART2 are provided on the custom board. Is it possible to connect directly to the UART and send AT commands? Or do I need to program the nRF9160 with a sample application using nRF9160 DK or jlink programmer first?

Thanks in advance

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