AoA / PDOA available solutions

Hello and happy new year!

I am interested in developing a solution for measuring both horizontal and vertical AoA/PDOA.
There are already some forum questions in the past, but they seem to be outdated.

Since there doesn’t seem to be a ready-made solution provided by Decawave, what would be the most straight-forward way to achieve a AoA/PDoA measurement? Can this be done with multiple DWM1001 modules or do I need to create a specific setup with DWM1000 or even more complex DW1000 with custom antennas etc.?