If stock recovery mode (or TWRP - not sure if it’s still a thing as it’s been ages since I last used Android) allows access to the file system you should be able to figure out and edit whatever configuration file controls whether ADB is enabled.

This requires a wipe in most cases to unlock your bootloader (if that's even possible for your phone, not all can be). At that point, you might as well just wipe your phone.

EDIT: Some phones also require you to unlock it in settings too don’t they?