TOF Camera on Samsung A51 and other midrange phones

While I understand that on the higher end models it is possible to access the depth readings from the TOF cameras, I would like to know if it’s also possible to do so on the mid-range models such as the A50 and A51.

I tried using the 3D scanner app provided by Samsung and while it did install, it failed reporting that a range sensor was needed.

Since the A51 does in fact have a TOF sensor, is there some API that provides access to it?

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Doing a bit more investigation, on the A51 the camera2 API camera capabilities does not report DEPTH_OUTPUT for any of its three cameras.

So apparently the TOF camera is not readily accesible through the standard API.

Is there some non-standard API by which one may access it? Or is it intentionally hidden…?