Here4 and Raspberry Pi Connection

Dear all,
We have here4, here+ base and raspberry pi and first of all we would like to connect here4 with raspberry pi. I have seen here4 has uart and i2c interfaces. We would like to go with i2c but we couldn’t find any solid application note.

Has anyone made this type connection?

Later how can we use here+ base station with this kind of setup? Do we need telemetry ?

I would apricate your insights.

Regards,
Talat

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