tether FreeBSD Raspberry Pi Zero to FreeBSD machine

I'm looking for a tutorial to USB tether a Raspberry Pi Zero 1.3 running FreeBSD 13.3 to another FreeBSD 14 machine with network connection, so the Zero gets internet connection and I can ssh into the Zero.
(there is this old thread Need help tethering Raspberry Pi to FreeBSD but it is for the Pi running Raspberry Pi OS and the thread stops before a solution).

The Zero OTG works under FreeBSD 13.3, I can cu to the serial console.
 
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