Yes, it's in the manual but sometimes the manual isn't as clear as it should be. It's really simple:
A. Turn ON the Anafi and let it boot.
B. Plug the USB to USB C cable into both computer and Anafi.
C. A few seconds later the SD card will show up as an external drive...just copy and paste or cut and paste to wherever you want the Jpegs and mp4's. I usually use cut and paste because the OEM SD card fills up really fast. Even a 64 Gig card will fill up in a dozen long video flights in 4K.