JTAG/SWD Pogo Pins for B404X Base PCB

I am making a base printed circuit board for the B404X. I need a way to program the microcontroller with JTAG. According to the datasheet there are 4 pads on the backside of the B404X for JTAG:

Do I make connections with those pads with POGO pins? And what should the height of the POGO pins be? Do you have any examples of POGO pins that I could use?

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