Take a look at my blog Avoidance Experiments with the POC and Benewake TFMINI
I made an Arduino based system using multiple VL53L0X (Called the POC), that are programmed like the adafruit library.
It can be programmed using a GPIO on the Flight Controler, but it might be easier to interface through an Arduino.
The main problem is the sensor, its operational envelope is very limited (max 150 Cm) and does not works well with bright sunshine.