Hello Sunil
Examples for TWR on the DWM1001 can be found here: https://github.com/Decawave/dwm1001-examples.
It is also possible to set up TWR between just 2 devices in PANS, the RTLS demo firmware for the DWM1001, but this requires one of the devices to act as an anchor. See this post: How can I set 1 anchor + 1 Tag mode?