I'm working with an Arduino Nano Every, and I'm trying to connect it to the Raspberry Pi Zero for data collection from I2C sensors and writing/program code from the Pi to the Arduino. Typically, I would use a USB cable to connect from the Pi to the Arduino. However, this is going to be in an area where space is limited, so I'm looking for ways to connect the Arduino to the Pi that does not involve a USB cable. Are there other ways for the Pi and the Arduino to communicate the same way as if they were connected together via USB cable, perhaps through the Raspberry Pi's GPIO pins? What are some advantages/disadvantages of doing it in other ways?
EDIT: Something that also occurred to me: When connecting the Arduino to the Pi, to ensure that the Arduino has enough power, is there no choice but to use USB?