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

USB Peripheral (gadget stack)

configname: CONFIG_USB_MUSB_PERIPHERAL

Driver Mode
└─>USB Peripheral (gadget stack)
In linux kernel since version 2.6.27 (release Date: 2008-10-09)  
Say Y here if your system supports the USB peripheral role.
If it has a USB "B" (squarish), "Mini-B", or "Mini-AB"
connector, it supports the peripheral role.
(With a "Mini-AB" connector, you should enable USB OTG.)