Can you get a raw MAVLink connection via UDP/TCP socket?

Product: Bebop2
Product version: 4.3.1
SDK version: ARSDK3
Use of libARController: YES/NO
SDK platform: Unix
Reproducible with the official app: NO

I’ve got a working example of setting waypoint missions via the ARSDK3 but I’d really like to skip that phase and just connect a ground control system directly to a MAVLink endpoint on a drone, if possible?

How do I get access to the raw UDP/TCP stream of MAVLink messages to send and receive commands as outlined in the MAVLink specification (https://mavlink.io/en/services/)?