SoftwareSerial is using the PIO and you can set up any available GPIO pin as RX and TX. To test the functionality I am using a YP-05 FTDI
Before making any connectins, make sure that the jumper is set to 3.3V !
| YP-05 | Pico |
|---|---|
| RX | TX (GPIO 21) |
| TX | RX (GPIO 22) |
| GND | GND |

You can connect with any Termial Emulation using the following settings