How to run a job from a Jenkins Pipeline on the same executor (declarative syntax)

I want to use the Jenkins "PRQA" plugin, which seems not to have the option to use it from a pipeline. The plugin would run static code analysis and publish the results. In my case, it requires some preparations that are already done in a pipelinejob. Because of that, I want to include the job into that pipeline, but on the same executor with the data prepared by the pipeline as some kind of inlined job-step.

I have tried to create a job for the PRQA-Plugin-Step and execute this with the build step from the pipeline. But this tries to start the job on a new executor (and stalls because I have only one executor).

pipeline {
   agent any
   stages {
      stage('Build') {
         steps {
            echo 'Prepare'
         }
      }
      stage('SCA') {
         steps {
           //Run this without using a new executor with the Environment that exists now
           build 'PRQA_Job'
         }
      }
   }
}

What is the correct way to run the job on the same executor with the current working directory.