Hi AJ,
It is not easy to integrate new MIPI sensors into the system. If the sensor is supported, see list here, then it is a hardware effort to integrate an interposer. There are no standard MIPI connectors, each platform is fairly different.
For a new sensor, it is up to a few months of code and tuning if no reference is available. You would need access unfortunately to Qualcomm's proprietary camera stack to integrate on your own.
Is there a specific module you are targeting, maybe we can help point you in the right direction?