To illustrate the how, I currently connect my RPI4 with a "USB-C to USB-C" cable to my MacBook Pro, providing both power and allowing OTG connectivity over that single cable. To activate OTG mode on stock Raspian Buster I applied this guide. After reboot with that config, the RPI4 shows up on MacOS as a networking device named RNDIS/Ethernet Gadget.
With default Bonjour activated and a local network config is automatically created, you should be able to reach the RPI4 on raspberrypi.local. With some additional config changes this allows me to ssh in or access VNC via MacOs Screen Sharing. I also configure Internet Sharing on the MacOs side, allowing the RPI to access the internet through the MacBooks network configuration.