Some of the examples from Decawave use the carrier integrator to correct the clock.
Have a look at ex_06a_ss_twr_init in dw1000_api_rev2p14 and https://github.com/Decawave/dwm1001-examples.
I believe PANS release 2 uses SS-TWR with clock offset compensation. There are a number of threads about this, for example Why is SS TWR used in PANS 2.0 instead of DS TWR?