Yo!
This sounds like a really cool project. I’ve used the t265 on both rovers and multirotors for localisation in environments with and without GPS with quite stunning results - check this out: Integration of ArduPilot and VIO tracking camera (Part 4): non-ROS bridge to MAVLink in Python - #22 by hugh.
I’ve got plenty of experience with both cameras and companion computers in rovers so don’t hesitate to reach out if you need some help!