What you are looking for is the VL53L1X UltraLite Driver. We wrote this specifically for small projects.
The API is less feature full, but it's a lot more straight forward.
In order to get thing running right however, there needs to be an interface layer between our API and your CPU. We call this a 'platform' layer.
polulu support too many MCU/CPU in order for me to recommend one, but I'll put a project here that might help.
If you don't have Linux, edit the platform.c file to suit your needs.
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