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I have a large project which is being controlled by a Teensy 4.0 and I accidentally broke off the mini-USB. I will probably buy a new one anyway, but I wanted to try uploading using the RX TX pins to learn how to do it. I have a SparkFun FTDI Basic Breakout but all the tutorials I can find are for Teensy's, is there a tutorial which shows this, or can you tell me how to upload to a teensy from the Arduino IDE using FTDI? Thanks!

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You can not upload firmware to the Teensy 4.0 over a serial connection. Firmware upload is handled by an additional processor on the Teensy board which only communicates over USB and programs the main processor using its JTAG interface.

luni64
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I know you can upload a arduino using another arduino, you can search about it.