How to use JTAG and pogo and USB?
The typical setup is:


JTAG adapter: connected to your PC via USB
Pogo adapter cable: connected to your JTAG adapter (e.g. using a JTAG connector)
The PCB has 4 pads or holes in a row that the pogo pins can be pressed against


Well-know adapter cables are from Tag-Connect. In addition to the pogo pins, they have alignment pins. They don't have a 4 pin version though.



Less expensive offers exist in China, e.g. https://www.aliexpress.com/item/4000317819667.html. At least the cable would be usable.