Update failed, stuck in TWRP mode and not enough space to download zip file

I believe your problem is the same (or very similar) as this one:

Please have a look and try what I and others have suggested over there. You might have to manually reinstall FPOS (:warning: in this case please do a twrpbackup before, you will lose all your data!).

Yes. You first swipe to sideload on TWRP and then run the adb sideload [zip file] command from the computer.

Sorry, I have not been explicit enough: I meant enter adb devices in the terminal or cmd on your computer, and see if it outputs a device connected (just when being in TWRP).

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