Hello,
I think you deal with the same issue as @rickyg32 , but with a different TFMINI release.
The problem is basically an incompatibilit with the TFMINI driver (type 25) that expect a TFMINI PLUS registers that are different betweinn TFMINI (xx) and TFMINI PLUS.
So even if you put your sensor in I2C (By sending this serie of Hex Characters under the Benewake GUI : 5A 05 0A 01) , you wont be able to get the range finder working with ardupilot.