default or selected kernelversion does not have config value CONFIG_USB_GADGET_RENESAS_USBHS.
Result is shown for kernelversion 5.6.18

Renesas USBHS

configname: CONFIG_USB_GADGET_RENESAS_USBHS

USB Peripheral Controller
└─>Renesas USBHS
In linux kernel since version 3 (release Date: 2011-07-21)  
Renesas USBHS is a discrete USB host and peripheral controller
chip that supports both full and high speed USB 2.0 data transfers.
platform is able to configure endpoint (pipe) style

Say "y" to enable the gadget specific portion of the USBHS driver.