Multi vehicle simulation with video streaming

I’m trying to set up a multi-vehicle simulation in Gazebo with PX4, along with setting up simultaneous video streams to stream the video recorded by the onboard cameras of all the vehicles.
I’ve looked at the documentation for Multi vehicle simulation (, and of setting up video streaming (
The video streaming docs mention that only the Typhoon H480 vehicle supports video streaming currently, and the multi-vehicle simulation docs mention that they only support Iris and a few other vehicles (which does not include Typhoon H480).
Considering this, can you please tell me if there is any way to do a multi-vehicle simulation with multiple video streams?
I apologize if I’ve posted it in the wrong category, or if I’ve missed out any relevant details.
I’ll be really grateful for any assistance with this problem!