So as per source code and pinout of qca9563 I was simply soldering my wires on the gpio outs and here we go with a functional serial console, since I didn't find any other lead to it:
For Board AP152:
asuswrt/release/src-qca/uboot/board/atheros/common/serial.c:
UART_RX18_TX20 -> rx=gpio18, tx=gpio20
#elif defined(UART_RX18_TX20)
val = (ath_reg_rd(GPIO_OE_ADDRESS) & (~0x100000)) | 0x40000;
ath_reg_wr(GPIO_OE_ADDRESS, val);
val = ath_reg_rd(GPIO_OUT_ADDRESS) | 0xeffff6;
ath_reg_wr(GPIO_OUT_ADDRESS, val);
ath_reg_rmw_clear(GPIO_OUT_FUNCTION5_ADDRESS,
GPIO_OUT_FUNCTION5_ENABLE_GPIO_20_MASK);
ath_reg_rmw_set(GPIO_OUT_FUNCTION5_ADDRESS,
GPIO_OUT_FUNCTION5_ENABLE_GPIO_20_SET(0x16));
ath_reg_rmw_clear(GPIO_IN_ENABLE0_ADDRESS,
GPIO_IN_ENABLE0_UART_SIN_MASK);
ath_reg_rmw_set(GPIO_IN_ENABLE0_ADDRESS,
GPIO_IN_ENABLE0_UART_SIN_SET(0x12));
This can also work for other devices 
U-Boot 1.1.4-g37ca0402 (Jan 18 2016 - 09:33:38)
PL-AC56 bootloader version: 1.0.0.1
ap152 - Dragonfly 1.0DRAM:
sri
ath_ddr_initial_config(278): (ddr2 init)
ath_sys_frequency: cpu 775 ddr 650 ahb 258
Tap values = (0xf, 0xf, 0xf, 0xf)
64 MB
ASUS PL-AC56 gpio init : wps / reset pin
Flash Manuf Id 0xc2, DeviceId0 0x20, DeviceId1 0x18
flash size 16MB, sector count = 256
Flash: 16 MB
Maximum malloc length: 128 KBytes
mem_malloc_start/brk/end: 0x83f98000/83f98000/83fc8000
*** Warning - bad CRC, using default environment
plat_dev_init: read 16384 bytes from offset 9fff1000 of WLANCAL fail! (r = -1)
In: serial
Out: serial
Err: serial
Net: ath_gmac_enet_initialize...
Fetching MAC Address from 0x83fed5ec
ath_gmac_enet_initialize: reset mask:c02200
athr_mgmt_init ::done
Dragonfly ----> S17 PHY *
athrs17_reg_init: complete
SGMII in forced mode
athr_gmac_sgmii_setup SGMII done
: cfg1 0x80000000 cfg2 0x7114
eth0: 18:31:bf:68:0e:10
eth0 up
eth0
ath_set_tuning_caps: read WLANCAL fail!!! (r = -1)
Please choose the operation:
1: Load System code to SDRAM via TFTP.
2: Load System code then write to Flash via TFTP.
3: Boot System code via Flash (default).
4: Entr boot command line interface.
7: Load Boot Loader code then write to Flash via Serial.
9: Load Boot Loader code then write to Flash via TFTP. 0
3: Boot System code via Flash (default).
PL-AC56 bootloader version: 1.0.0.1
MAC Address: 18:31:BF:68:0E:10
## Checking 1st firmware at 9f060000 ...
Image Name: MIPS OpenWrt Linux-5.10.88
Created: 2021-12-31 12:21:39 UTC
Image Type: MIPS Linux Kernel Image (lzma compressed)
Data Size: 2224918 Bytes = 2.1 MB
Load Address: 80060000
Entry Point: 80060000
Verifying Checksum ... OK
Uncompressing Kernel Image ... OK
## Giving linux ramsize: 67108864 (64 MB)
Starting kernel ...
[ 0.000000] Linux version 5.10.88 (osboxes@osboxes) (mips-openwrt-linux-musl-gcc (OpenWrt GCC 11.2.0 r18442-8a0a17814e) 11.2.0, GNU ld (GNU Binutils) 2.37) #0 Fri Dec 31 12:21:39 2021
[ 0.000000] printk: bootconsole [early0] enabled
[ 0.000000] CPU0 revision is: 00019750 (MIPS 74Kc)
[ 0.000000] MIPS: machine is ASUS PL-AC56
[ 0.000000] SoC: Qualcomm Atheros QCA956X ver 1 rev 0
[ 0.000000] Initrd not found or empty - disabling initrd
[ 0.000000] Primary instruction cache 64kB, VIPT, 4-way, linesize 32 bytes.
[ 0.000000] Primary data cache 32kB, 4-way, VIPT, cache aliases, linesize 32 bytes
[ 0.000000] Zone ranges:
[ 0.000000] Normal [mem 0x0000000000000000-0x0000000003ffffff]
[ 0.000000] Movable zone start for each node
[ 0.000000] Early memory node ranges
[ 0.000000] node 0: [mem 0x0000000000000000-0x0000000003ffffff]
[ 0.000000] Initmem setup node 0 [mem 0x0000000000000000-0x0000000003ffffff]
[ 0.000000] Built 1 zonelists, mobility grouping on. Total pages: 16240
[ 0.000000] Kernel command line: console=ttyS0,115200n8 rootfstype=squashfs,jffs2
[ 0.000000] Dentry cache hash table entries: 8192 (order: 3, 32768 bytes, linear)
[ 0.000000] Inode-cache hash table entries: 4096 (order: 2, 16384 bytes, linear)
[ 0.000000] Writing ErrCtl register=00000000
[ 0.000000] Readback ErrCtl register=00000000
[ 0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
[ 0.000000] Memory: 56188K/65536K available (5433K kernel code, 592K rwdata, 1192K rodata, 1220K init, 201K bss, 9348K reserved, 0K cma-reserved)
[ 0.000000] SLUB: HWalign=32, Order=0-3, MinObjects=0, CPUs=1, Nodes=1
[ 0.000000] NR_IRQS: 51
[ 0.000000] random: get_random_bytes called from start_kernel+0x3c0/0x5b0 with crng_init=0
[ 0.000000] CPU clock: 775.000 MHz
[ 0.000000] clocksource: MIPS: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 4932285024 ns
[ 0.000007] sched_clock: 32 bits at 387MHz, resolution 2ns, wraps every 5541893118ns
[ 0.008214] Calibrating delay loop... 385.84 BogoMIPS (lpj=1929216)
[ 0.074761] pid_max: default: 32768 minimum: 301
[ 0.079752] Mount-cache hash table entries: 1024 (order: 0, 4096 bytes, linear)
[ 0.087464] Mountpoint-cache hash table entries: 1024 (order: 0, 4096 bytes, linear)
[ 0.097309] dyndbg: Ignore empty _ddebug table in a CONFIG_DYNAMIC_DEBUG_CORE build
[ 0.107597] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 19112604462750000 ns
[ 0.117998] futex hash table entries: 256 (order: -1, 3072 bytes, linear)
[ 0.125266] pinctrl core: initialized pinctrl subsystem
[ 0.131694] NET: Registered protocol family 16
[ 0.185392] clocksource: Switched to clocksource MIPS
[ 0.191820] NET: Registered protocol family 2
[ 0.196601] IP idents hash table entries: 2048 (order: 2, 16384 bytes, linear)
[ 0.204713] tcp_listen_portaddr_hash hash table entries: 512 (order: 0, 4096 bytes, linear)
[ 0.213624] TCP established hash table entries: 1024 (order: 0, 4096 bytes, linear)
[ 0.221726] TCP bind hash table entries: 1024 (order: 0, 4096 bytes, linear)
[ 0.229170] TCP: Hash tables configured (established 1024 bind 1024)
[ 0.235997] UDP hash table entries: 256 (order: 0, 4096 bytes, linear)
[ 0.242898] UDP-Lite hash table entries: 256 (order: 0, 4096 bytes, linear)
[ 0.250553] NET: Registered protocol family 1
[ 0.255176] PCI: CLS 0 bytes, default 32
[ 0.264639] workingset: timestamp_bits=14 max_order=14 bucket_order=0
[ 0.274926] squashfs: version 4.0 (2009/01/31) Phillip Lougher
[ 0.281135] jffs2: version 2.2 (NAND) (SUMMARY) (LZMA) (RTIME) (CMODE_PRIORITY) (c) 2001-2006 Red Hat, Inc.
[ 0.294833] pinctrl-single 1804002c.pinmux: 544 pins, size 68
[ 0.301869] Serial: 8250/16550 driver, 1 ports, IRQ sharing disabled
[ 0.309267] printk: console [ttyS0] disabled
[ 0.313831] 18020000.uart: ttyS0 at MMIO 0x18020000 (irq = 9, base_baud = 1562500) is a 16550A
[ 0.322977] printk: console [ttyS0] enabled
[ 0.322977] printk: console [ttyS0] enabled
[ 0.332041] printk: bootconsole [early0] disabled
[ 0.332041] printk: bootconsole [early0] disabled
[ 0.351470] spi-nor spi0.0: mx25l12805d (16384 Kbytes)
[ 0.356891] 5 fixed-partitions partitions found on MTD device spi0.0
[ 0.363450] Creating 5 MTD partitions on "spi0.0":
[ 0.368421] 0x000000000000-0x000000040000 : "u-boot"
[ 0.376927] 0x000000040000-0x000000050000 : "u-boot-env"
[ 0.383236] 0x000000050000-0x000000060000 : "art"
[ 0.390434] 0x000000060000-0x000000f80000 : "firmware"
[ 0.396786] 2 uimage-fw partitions found on MTD device firmware
[ 0.402913] Creating 2 MTD partitions on "firmware":
[ 0.408094] 0x000000000000-0x000000220000 : "kernel"
[ 0.415343] 0x000000220000-0x000000f20000 : "rootfs"
[ 0.421267] mtd: device 5 (rootfs) set to be root filesystem
[ 0.428008] 1 squashfs-split partitions found on MTD device rootfs
[ 0.434408] 0x0000005b0000-0x000000f20000 : "rootfs_data"
[ 0.440786] 0x000000f80000-0x000001000000 : "plc"
[ 0.452692] libphy: Fixed MDIO Bus: probed
[ 0.460336] ag71xx 19000000.eth: invalid MAC address, using random address
[ 1.146061] libphy: ag71xx_mdio: probed
[ 1.153326] switch0: Atheros AR8337 rev. 2 switch registered on mdio.0
[ 1.160162] Atheros AR8216/AR8236/AR8316: probe of mdio.0:00 failed with error -22
[ 1.245513] ag71xx 19000000.eth: connected to PHY at mdio.0:00 [uid=004dd036, driver=Qualcomm Atheros 8337 internal PHY]
[ 1.257322] eth0: Atheros AG71xx at 0xb9000000, irq 4, mode: sgmii
[ 1.263880] i2c /dev entries driver
[ 1.269470] NET: Registered protocol family 10
[ 1.280261] Segment Routing with IPv6
[ 1.284145] NET: Registered protocol family 17
[ 1.288854] 8021q: 802.1Q VLAN Support v1.8
[ 1.293886] PCI host bridge /ahb/pcie-controller@18250000 ranges:
[ 1.300256] MEM 0x0000000012000000..0x0000000013ffffff
[ 1.305666] IO 0x0000000000000000..0x0000000000000000
[ 1.311243] PCI host bridge to bus 0000:00
[ 1.315522] pci_bus 0000:00: root bus resource [mem 0x12000000-0x13ffffff]
[ 1.322621] pci_bus 0000:00: root bus resource [io 0x0000]
[ 1.328386] pci_bus 0000:00: root bus resource [??? 0x00000000 flags 0x0]
[ 1.335407] pci_bus 0000:00: No busn resource found for root bus, will use [bus 00-ff]
[ 1.343626] pci 0000:00:00.0: [168c:003c] type 00 class 0x028000
[ 1.349872] pci 0000:00:00.0: reg 0x10: [mem 0x00000000-0x001fffff 64bit]
[ 1.356942] pci 0000:00:00.0: reg 0x30: [mem 0x00000000-0x0000ffff pref]
[ 1.363932] pci 0000:00:00.0: supports D1
[ 1.368089] pci 0000:00:00.0: PME# supported from D0 D1 D3hot
[ 1.374864] pci_bus 0000:00: busn_res: [bus 00-ff] end is updated to 00
[ 1.381749] pci 0000:00:00.0: BAR 0: assigned [mem 0x12000000-0x121fffff 64bit]
[ 1.389330] pci 0000:00:00.0: BAR 6: assigned [mem 0x12200000-0x1220ffff pref]
[ 1.403710] VFS: Mounted root (squashfs filesystem) readonly on device 31:5.
[ 1.417709] Freeing unused kernel memory: 1220K
[ 1.422389] This architecture does not have kernel memory protection.
[ 1.429074] Run /sbin/init as init process
[ 1.957202] init: Console is alive
[ 1.961188] init: - watchdog -
[ 2.409279] random: fast init done
[ 2.892210] kmodloader: loading kernel modules from /etc/modules-boot.d/*
[ 2.926327] kmodloader: done loading kernel modules from /etc/modules-boot.d/*
[ 2.944264] init: - preinit -
[ 4.219445] random: jshn: uninitialized urandom read (4 bytes read)
[ 4.353326] random: jshn: uninitialized urandom read (4 bytes read)
[ 4.426397] random: jshn: uninitialized urandom read (4 bytes read)
Press the [f] key and hit [enter] to enter failsafe mode
Press the [1], [2], [3] or [4] key and hit [enter] to select the debug level
[ 8.974663] jffs2: notice: (450) jffs2_build_xattr_subsystem: complete building xattr subsystem, 20 of xdatum (0 unchecked, 12 orphan) and 23 of xref (12 dead, 0 orphan) found.
[ 8.992797] mount_root: switching to jffs2 overlay
[ 9.000796] overlayfs: upper fs does not support tmpfile.
[ 9.013050] urandom-seed: Seeding with /etc/urandom.seed
[ 9.173243] procd: - early -
[ 9.176650] procd: - watchdog -
[ 9.834348] procd: - watchdog -
[ 9.861486] procd: - ubus -
[ 10.008282] urandom_read: 5 callbacks suppressed
[ 10.008290] random: ubusd: uninitialized urandom read (4 bytes read)
[ 10.041030] random: ubusd: uninitialized urandom read (4 bytes read)
[ 10.053937] procd: - init -
Please press Enter to activate this console.
[ 11.138811] kmodloader: loading kernel modules from /etc/modules.d/*
[ 11.539574] urngd: v1.0.2 started.
[ 11.668879] Loading modules backported from Linux version v5.15.8-0-g43e577d7a2cb
[ 11.676661] Backport generated by backports.git v5.15.8-1-0-g83f664bb
[ 11.741054] xt_time: kernel timezone is -0000
[ 11.747232] random: crng init done
[ 12.035889] PPP generic driver version 2.4.2
[ 12.042682] NET: Registered protocol family 24
[ 12.131253] ath10k 5.15 driver, optimized for CT firmware, probing pci device: 0x3c.
[ 12.156542] ath10k_pci 0000:00:00.0: enabling device (0000 -> 0002)
[ 12.163187] ath10k_pci 0000:00:00.0: pci irq legacy oper_irq_mode 1 irq_mode 0 reset_mode 0
[ 15.814666] ath10k_pci 0000:00:00.0: qca988x hw2.0 target 0x4100016c chip_id 0x043222ff sub 0000:0000
[ 15.824247] ath10k_pci 0000:00:00.0: kconfig debug 0 debugfs 1 tracing 0 dfs 1 testmode 0
[ 15.836209] ath10k_pci 0000:00:00.0: firmware ver 10.1-ct-8x-__fW-022-ecad3248 api 2 features wmi-10.x,has-wmi-mgmt-tx,mfp,txstatus-noack,wmi-10.x-CT,ratemask-CT,txrate-CT,get-temp-CT,tx-rc-CT,cust-stats-CT,retry-gt2-CT,txrate2-CT,beacon-cb-CT,wmi-block-ack-CT crc32 3e4cf97f
[ 16.351550] ath10k_pci 0000:00:00.0: board_file api 1 bmi_id N/A crc32 bebc7c08
[ 17.339843] ath10k_pci 0000:00:00.0: 10.1 wmi init: vdevs: 16 peers: 127 tid: 256
[ 17.357832] ath10k_pci 0000:00:00.0: wmi print 'P 128 V 8 T 410'
[ 17.364079] ath10k_pci 0000:00:00.0: wmi print 'msdu-desc: 1424 sw-crypt: 0 ct-sta: 0'
[ 17.372369] ath10k_pci 0000:00:00.0: wmi print 'alloc rem: 24984 iram: 38672'
[ 17.429072] ath10k_pci 0000:00:00.0: htt-ver 2.1 wmi-op 2 htt-op 2 cal file max-sta 128 raw 0 hwcrypto 1
[ 17.444323] ath10k_pci 0000:00:00.0: NOTE: Firmware DBGLOG output disabled in debug_mask: 0x10000000
[ 17.676467] ieee80211 phy1: Atheros AR9561 Rev:0 mem=0xb8100000, irq=2
[ 17.704001] kmodloader: done loading kernel modules from /etc/modules.d/*
[ 32.246019] br-lan: port 1(eth0) entered blocking state
[ 32.251430] br-lan: port 1(eth0) entered disabled state
[ 32.257141] device eth0 entered promiscuous mode
BusyBox v1.34.1 (2021-12-30 09:47:22 UTC) built-in shell (ash)
_______ ________ __
| |.-----.-----.-----.| | | |.----.| |_
| - || _ | -__| || | | || _|| _|
|_______|| __|_____|__|__||________||__| |____|
|__| W I R E L E S S F R E E D O M
-----------------------------------------------------
OpenWrt SNAPSHOT, r18464-6c96d9b71c
-----------------------------------------------------
=== WARNING! =====================================
There is no root password defined on this device!
Use the "passwd" command to set up a new password
in order to prevent unauthorized SSH logins.
--------------------------------------------------
root@OpenWrt:/#