UART is the preferred way to go
it can be done via USB as well as RS232 and RS485
add UART comms to daemon, extend parameters and check communication between axiom remote and daemon
The PIC32 handles the low level stuff and the electrical interface
On top of that to use UART over USB (or HID, which might be interesting too) on the PIC, the USB stack needs to be implemented.
http://ww1.microchip.com/downloads/en/DeviceDoc/60001191G.pdf (section 11)