Pixhawk 4 mini I2C

I am new to the Pixhawk game and need to know if it is possible to hook up several I2C sensors to the Pixhawk 4 mini. All the documents say that there is a UART and I2C connection but it says “for second GPS”. Is there no way to connect sensors to this thing? If there is, can I get a brief explanation of the connection to say, I2C Lidar and ultrasonic distance sensors?

Generally you can connect multiple things/sensors to one I2C “connection” because it is a bus. However, the devices need to have a different device ID, otherwise they conflict.