How to share BPF maps between two kernel space BPF programs?

Before I present my matter; I have read this Map sharing between different ebpf program types previously asked question which does not seem to answer my question.

Now, what I am doing is, I have two BPF programs, one for XDP and other for TC (No Userspace program). I have created the map in TC program and pinned it to global namespace

struct bpf_elf_map cnt_map __section("maps") = {
    .type           = BPF_MAP_TYPE_ARRAY,
    .size_key       = sizeof(uint32_t),
    .size_value     = sizeof(uint32_t),
    .pinning        = PIN_GLOBAL_NS,
    .max_elem       = 2,
};

Now, I want to access the same map in my XDP code. The document says that the pinned object can be obtained using BPF_OBJ_GET, but what all I could find is the userspace version of this.

So, I need to know, how can two kernel space BPF programs can share a map? If it's possible with BPF_OBJ_GET to get the pinned object (in my case it's a map), then how? Or is there any other way of doing it?

A code example of how to access the pinned object in other kernel space BPF program is really appreciated since I am new to XDP/BPF or tc/BPF.

Thanks.