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Is there any way to connect UVC camera to GPIO pins and not set PICO board to host mode?

GPIO pins cannot be directly used as USB interfaces. GPIO (General Purpose Input/Output) pins are designed for controlling low-power devices, sensors, LEDs, etc., while USB is a high-speed serial bus with complex protocols and electrical characteristics. There are significant differences between GPIO and USB in terms of design purpose, signal standards, and speed. You'll have to research this unusual requirement on your own.

Thanks. by writing GPIO I meant pins on board. So to use UVC (this is not exactly camera, but video capture board) I need to solder (D+ and D-) to type-C socket, right? there is no other way?
It can be any of RV1103-1106 board. I have them all:)