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Raspberry Pi 4 can do USB OTG via the USB-C connector (according to this answer) - but only at USB 2.0 speeds since the USB-C connector only connects to USB 2.0 lanes.

My question is - can Pi 4 also do OTG at USB 3.0 speeds? Maybe via the standard Type-A connectors?

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No it cannot. No device can do OTG via Type-A sockets, they are host-only.

For the sake of completeness, as @jdonald mentioned in a comment, RPi model A/A+ (the ones without the USB hub, just like Zero) can be configured into device mode and connected to a USB host using a non-standard cable. However, this is excluded for any model B (including RPi 4), as there is a hub in the way.

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    Raspberry Pi A and A+ do OTG via type-A sockets. The difference is that such connectors lack the OTG pin for switching dynamically so the A/A+ needs to be fixed into device mode on boot via dtoverlay=dwc2,dr_mode=peripheral. – jdonald Sep 13 '19 at 19:53
  • @jdonald Physically, you can wire USB to any connector with sufficient pin count. I've seen USB over 3.5mm jack for instance. However, this is not something you can legally put a USB logo on. – Dmitry Grigoryev Sep 14 '19 at 13:54
  • Help me out, please... your comment here implies that your answer is guided by a requirement that the only possibilities worth considering are those to which a USB logo can be legally applied. In other words, @jdonald comment is accurate, but not "legal"?? – Seamus Jul 29 at 22:35
  • @Seamus Sorry, I didn't get your question. Are you talking about the Pi model A, or the Pi 4 (which has no "A" model)? – Dmitry Grigoryev Jul 29 at 23:15

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