You need to access the BELABOOT filesystem by inserting the SD card on your host computer and add two lines in the file uEnv.txt
after these lines:
uboot_overlay_addr2=/lib/firmware/BB-BELA-00A1.dtbo
uboot_overlay_addr3=/lib/firmware/BB-BELA-CTAG-SPI-00A0.dtbo
add these
uboot_overlay_addr4=/lib/firmware/PB-USB0-HOST.dtbo
uboot_overlay_addr5=/lib/firmware/PB-USB1-PERIPHERAL.dtbo
safely unmount the SD card and put it into the PocketBeagle.
Power it on with your USBA to USBA cable and it should automagically work?