Hi there,
So what’s the problem? of course it works Nothing special about those. Which BSP are you using? How did you connect it? Got a picture?
or Schematic?
If it works with a D1 , then YES it will work with ALL the Xiao’s I’m certain. It works Hardware Serial pass-thru to software Serial so where is the issue.?
HTH
GL 
PJ 
I have it working in an old thread (air530) GPS module and a Xiao ESP32C3 & Nrf52840…