Drawing 5v while using Lipo Battery on the Seeduino ESP32 C3

I was wondering if it is possible to draw from the 5v pin when a lipo is connected to the back BAT+ and BAT- pads. If not, then what is the best way to draw power from the battery when not plugged in and draw from the usb when plugged in?

When the lipo battery is connected to BAT+ and BAT- on the back, can it draw power from the 5v pin