You can take a look on this repo: https://github.com/RT-LOC/zephyr-dwm1001
Go to examples ex_05* DS-TWR for double sided two way ranging, or ex_06* SS-TWR for single-sided two-way ranging.
The examples are hard coded to get the distance only between two previous knew devices. You need to make some modification to deal with many devices.
Particularly, I’m studying this repo now, and I’ll try to develop exactly this.