You can mix and or route audio to any General Purpose output with both the Universal Control and your DAW. They both can work at the same time but UC and your DAW are separate. UC will create individual "mixes" of any input with DAW return channels to each General Purpose Output pair. Individual mix for each output pair.
Your DAW, will also mix and or route any input channel/audio track to any output channel in its own way. Meaning that setting this up is respective to your DAW. Studio One for example can create any number of Output Buses that can be set to any available Output channel. You can the freely assign these Output Buses to any audio track.