If the ADB port is not disabled via MDM feature-control policy, anything is in principle possible via the ADB port, basically limited by the ADB command set supported and the ADB utility software used.  However, leaving ADB port enabled often poses very big security risk for most enterprise use-cases.

You don't need to use ADB with Zebra devices to upgrade the OS because there is already a install_system_update script that will process updates for you. You can also use MX based os updates with the mxconfig script.