Step 1: Flash Raspberry Pi OS onto the SD card
Step 2: Edit config.txt on the boot partition
dtoverlay=dwc2
Step 3: Enable SSH
touch ssh
Step 4: In cmdline.txt, look for rootwait, and add modules-load=dwc2,g_ether immediately after, separated by a space.
Example:
console=serial0,115200 console=tty1 root=PARTUUID=6c586e13-02 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait modules-load=dwc2,g_ether quiet init=/usr/lib/raspi-config/init_resize.sh