Wow, you have not asked an easy question.
Basically, integration time is what gives us accuracy. A four fold increase in the integration time, will give a two fold increase in accuracy.
The UltraLowPower (ULP) driver saves power by decreasing the integration time. But at the expense of accuracy. We went so low, we can only see if something is there or not.
The other trick is the ToF sensors are about +/- 3% accurate, but that breaks down at the closer distances. The VL53L4CD in my testing is +/- 2mm at 7mm. (And that assumes you are not looking at really black surfaces and really reflective surfaces.
(The issue seems to be that the photons are taking multiple bounces between the target and the structure that's holding the sensor.)
I'm pretty sure you could run the ULP driver on the L4CD, but the accuracy issues would remain. You could tell something was in front of you, but not exactly where.
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