It’s never a “good” idea to plug headphones into anything not designed specifically for headphones - headphone outputs usually have large-ish capacitors to help drive them, or other such things. Some headphones tolerate bad practices better than others.
If you already have a small mixer with a headphone output, going from PicoDSP to that, then to headphones, would be fine, but if you want to use headphones with the modular directly, you really should have something with a true headphone output.
I’d also note that I personally wouldn’t want to be actively mixing 4 knobs in 10mm of width. If you mostly want something you can just set and leave, I’m sure it is fine, but often people are “playing” their mixers and making adjustments on them a lot, in which case something slightly larger would likely be more comfortable.