I use the Tfmini plus on a daily basis for Simple avoidance, as well as path planning algo’s like BendyRuler. It is fairly easy to set it up… One can set any rangefinder to be used as a proximity sensor.
First step will be to configure RangeFinder properly: https://ardupilot.org/copter/docs/common-benewake-tfmini-lidar.html
Check this out. There is a note for I2c driver that will help you.
Next: setup RNGFNDX_ORIENT param correctly as per your need (0 if forward facing)
Now go to mission planner and check in the status tab if you can see the Range finder values correctly or not. If you can see it, all is well, and you’re almost done.
Last step would be to set up the param PRX_TYPE to 4… So that proximity library knows that it should look for the rangefinder readings.
Before flying do have a look here: https://ardupilot.org/dev/docs/code-overview-object-avoidance.html#reporting-to-the-ground-station
and verify everything is working correctly.
Overall it won’t take you more than 10-15 mins to set this up if your connections are right. Hope I helped. Let me know if you have more doubts. Cheers!