Several people have complained about the need to constantly connect/disconnect usb cables when switching from image flashing (over OTG) to booting with usb-ethernet/keyboard/mouse (on the Type A connector) on the currently available boards.
Since LAVA has automated this, I got Tyler to do a short write up (Thanks!), added a diagram and here it is. This should alleviate some of the pain. Please feel free to share externally with others who've been asking for how to do this.