According to the UiPath documentation and the UiPath Academy course, test cases can be linked directly from Uipath Studio to a correspondent test case and requirement in Test Manager. To complete this action, you need to integrate Studio to Test Manager. In Studio, you can right-click a test case and select Link to Test Manager.
You can also use Ctrl + Click for multiple selections to link multiple test cases to a requirement. Test Manager might require you to sign in, using your credentials. Then, you can configure the test case information, such as the project, the requirement, and the test case name12.
References:
Studio - Test Cases - UiPath Documentation Portal1
UiPath Test Manager | UiPath Academy2