Thought so. But it doesn't hurt to ask.
I found various pieces of documentation in ref manuals of MCUs/MPUs embedding a DWC2 core (like STM32 MCUs).
And then source code, in particular the implementation of the DWC2 driver in the Linux kernel. Also support in TinyUSB, although for the latter, it doesn't seem to support DMA (unless I missed it). But that's always some complementary info.
Synopsys seems to have done a very good job at securing their documentation. I haven't found a single leaked manual of this online. (But if you do, don't hesitate to let me know.) They must be pretty serious with enforcing confidentiality.
You apparently need to be a customer to register for an account that allows you to download docs. Didn't find a simple way to register if you are not a customer.