Spoke to my colleague, and he recommended using VirtualHere software for this. Download the VirtualHere USB Server for Linux (ARM) file from here, upload it to the router using WinSCP, and place it in the /sbin folder (could be placed somewhere else on the router). Then run the command <file_location>/<file_name> -b. For example, for me, the full command would be /sbin/vhusbdarm -b. If the device will be accessed via it's WAN interface, make sure to configure a firewall rule. That is all configuration that is needed on the router side.
Then, client software can be downloaded from here. Once it is launched, it should appear in the system tray. If the router is in your local network, it will detect it and the devices connected to the USB hub automatically. If it is not, the public IP of the router (VPN tunnel should also work) can be added as well, and the process should also be seamless.
Please keep in mind, that only one client can connect, otherwise a license is needed.
Let me know if this helps!
Best regards,
DaumantasG