What seems to have been removed is the on-device ADB binary. I discovered this myself, today, as I have an Asus TF300T which I regularly use with other Android tablets at work for debug purposes, that I over the weekend upgraded to 6.0. Much to my surprise, no longer am I able to adb from my tablet. I did some quick research on it, and found a few people posting about it, but no solutions as of yet.
I ran across this thread the other day. I haven't had a chance to try it yet but this might be what your'e looking for.
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