Here you can check the pin allocation on the ODrive: link.
On ODrive v3.3 pins 14 and 15 are mapped to
UART4_RX. On ODrive v3.2 these pins are
M1_TEMP. This is the sense for the DC bus voltage, and the M1 thermistor. So while you may be able to repurpose the M1 temperature sense, you cannot be without the bus voltage sense.
If you really would like to dig in to making this work, I would suggest instead that you share the SPI pins 51 and 52. You would need to add some code that switches them from SPI3 to UART4 after using the SPI to initialize the DRV gate driver.
Alternatively, I would be happy to give you a 20% discount on a new ODrive v3.4, if you would rather not have to worry about doing all these changes.