Ok, I'm going to summarize for posterity.
One can try ssh (which is enabled by default) with root/1234 (default), or the Debug TTY. This does exist on the NanoPi R6S between the USB-C Power and HDMI port. There are no headers soldered on, so that has to be done first with headers that can be purchased at one of the following URLs.
https://www.adafruit.com/product/3009
https://www.amazon.com/dp/B07PKKY8BX
Once the headers are one, you can connect to this port with a USB to UART device (preferably with a chip such as the CH340C, CP2104, FT232R) connected from another Windows, Linux or Mac computer. I suspect this device will work.
https://www.amazon.com/gp/product/B07BBPX8B8
Debug TTY instructions are located here:
https://www.youtube.com/watch?v=UpVMO7gbnYM&t=226s
Thanks!