I think you need to understand the fundamental first before you can get things you wanted to do, works. In embedded solution, I2C module manufacturers usually provide a dip SW or proprietary software to configure the I2C address, so users can connect them together and change the address according to tally to the embedded driver or software.
Similar to the @Yuri_Rage reference, the discussion.
I have seen many lidars connected to Ardupilot via serial, haven’t come across through I2C. Multiple I2C class devices on the same I2C port, yes, like CAN-ESC and CAN GPS. Assuming you can change the VL53L1X address, have you wonder will Ardupilot software or driver support it? All * RNGFNDx_TYPE = 16 (VL53L0X)? Maybe can, change the RNGFNDx_ADDR.
If your drone have multiple I2C ports or your sensor support serial (Uart), then no code is require, just setup or configuration.