Is it possible to implement TDoA through the SDK provided?

Hello, Experts

It is being developed using the SDK (DWM3001CDK-DW3_QM33_SDK_CLI-FreeRTOS) provided.
I wanted to correct the current SDK to position more than one tag, but it didn’t work because I modified what is related to the SDK provided.

  1. Is there no choice but to use TDoA to solve this problem?
  2. Is it possible to use the “listener2” command to implement TDoA with the SDK provided?
  3. Or how should I implement TDoA?