If this is usb interface, then you don’t need to change pinmux. Just consult with the vendor for their driver and see if this driver is compatible with kernel4.9.
Just an update:
After connecting the module via USB to TX2 board, we are not getting any info about drivers. The only driver that shows there is for serial but for MBIM it is not there.
We are using USB interface to connect Telit Module(4G module).
When I connect this module to PC and TX2 system, there is difference in lsusb command response.