Using mavsdk to read lidar data

I am currently using MAVSDK Python and Mavproxy to control my drone.

I had this Lidar device from Benewake TF03 currently plug in to Telem2 (Serial 2) of my flight controller using UART.

Any way which I can access the lidar data using MAVSDK instead of pymavlink?
Any way to just get data from any of the serial port using MAVSDK?

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Which driver you using to connect the TF03 lidar?
I can find only PX4 driver for TFmini has been released on github.

HI I have contacted the technical support of BenewakApplication of TF03 in Pixhawk.pdf (1.5 MB)