UCI specifications for DWM3001C

I have DWM3001C[DK] modules that I would like to use for Two Way Ranging.
I successfully played around with the UCI example project and the associated python script, and now I want to integrate the DWM3001C in my projects.

There are nice header files in the example project but unfortunately, this is a pre-compiled library.
The DWM3001CDK Developer Guide gives useful introduction to the UCI, but this is clearly not enough to implement the protocol on my side.
I tried getting the specification from the FiRa website, but it seems that a membership is required.

How can I use the product if I can’t have the specifications of the UCI protocol ?

Best regards