How much current do you need?
You can source 6v from the digital sidecar. If you aren’t using all 10 PWMs then you just have to put in the servo power jumper and then use 2 of the 3 pins of the PWM connector for 6v and ground. If you are using all 10 PWMs then you could wire up a 2-pin header to the jumper of a PWM port that isn’t used for a servo to get 6v and another header somewhere on the DIO or Relay section to get a ground.
The spec says you can pull up to 3a from the 6v supply, I doubt you need anywhere that much.
