I tried that to run adbd as khadas but it seems that the /dev/usb-ffs/adb/ep1 didn’t show up. The systemctl status usb-gadget-khadas also shows that echo $UDC > $GADGET/UDC line failed with IO Error. Note this occured when I dropped the root group from khadas account here to make it a normal account.
Previously khadas was a member of root group and I was able to run adbd as khadas: