On the EVM, TM4C is a on-board XDS110 emulator.
If you don't want to put a XDS110 on your board, you can use external USB<->UART cable to connect your board and PC.
For mmwave demo, 2 UART is required for data and configuration transmit.
Application/User Uart: Configuration port 115200bps: UART_RX/TX port <-> USB-UART cable <-> PC
Auxilliary Data Port: Data port 921600bps: MSS_LOGGER-> USB-UART cable -> PC
For flash the device using external USB<->UART cable:
Set the SOP first, connect UART_RX/TX port <-> USB-UART cable <-> PC, then you can use uniflash to flash the device.
If you have any further questions, please let me know, thanks.