Initiator and Responder 1 Program Ranging Code?

Hi, I would like to make a program that can do ranging between all nodes, so like each node is an initiator and a responder, meaning that each node can send and recieve data, so there is no differentiating between the two types? Is there an example of this anywhere, I am having a hard time finding anything like this. I thought this was double sided TWR, but it looks like that needs an initiator and responder as well.