@Colby-Howell You can save camera data onboard using voxl-logger, but it will take up a lot of storage very quickly and the voxl2 has < 64gb so be careful with that. If you're not trying to save raw frames and are okay with compression & artifacts you can stream it to a ground computer with voxl-streamer and save it there
For connecting to the drone the easiest (especially cause you don't have a ground radio) is wifi, you can just connect your drone to a somewhat powerful router, set a static IP and ssh in.
For autonomous navigation, the best way in my opinion is to talk to voxl-px4 through the uxrce-dds bridge (implemented on the voxl2 as voxl-microdds-agent) https://docs.px4.io/main/en/middleware/uxrce_dds