Great, thanks for the suggestions! I was hesitant to install other programs to the DigiPi image (for stability/maintainability), but it worked like a charm.
Minicom worked because it is happy running within the existing shell window. After installing it, this was the simple command line to make the connection (did not have to specify the baud even):
minicom -D /dev/ttyACM0
I tried Gkterm as well, but did not work. It gave these errors:
Unable to init server: Could not connect: Connection refused
(gtkterm:24918): Gtk-WARNING **: 11:31:58.993: cannot open display:
It seems like maybe it wanted to open in a separate window? Which would presumably be awkward or not possible under the non-desktop environment of DigiPi? I'm not sure, I'm not super fluent with how Linux systems work.