Hi Josh,
Did you test the VOXL 2 with FLIR Boson and FLIR Lapton? What is the configuration setup?
Yes, please see https://docs.modalai.com/voxl-uvc-server/
For the other items, it may be easier to use an external flight controller. VOXL 2 has a different set of I/O than STM32 based flight controllers. In general, if it's not documented here, it will be a lot of work to implement