Hi Macio,
The tag is calculating its position and sending it over UWB to surrounding nodes within a the first message of the next TWR exhange. (Poll message).
Anchors and gateway are listening to this message (but note the position cannot be retrieved from active anchors). If you don’t want to use gateway, you can use a passive tag or anchors (but it has to be passive - its also called “listener”). The passive device will report position of surrounding tags over the UART interface when using “les” commands in shell mode.
I Hope it helps,
Yves