I had to do this for matlab. It isn't difficult but I remember there being some annoying syntax thing that came up somewhere. I didn't run into it while testing so maybe it won't be a problem.
Go to the download page here (
https://highlightjs.org/download/) select the languages you want included in the plugin.
Click the download button.
In the downloaded zip file open up the file highlight.pack.js
In the tiddler $:/plugins/tiddlywiki/highlight/highlight.js
You want to replace everything between the first line
var hljs = require("$:/plugins/tiddlywiki/highlight/highlight.js");
and the last line
with the contents of highlight.pack.js
Then same the tiddler and reload your wiki. I didn't get an error doing it just now but I haven't tested it much.