Support for PointXYZRTLT Format with Livox AVIA in Driver 2 or Modified Driver 1

[MattiasTancred]

I am using a Livox AVIA LiDAR and would like to obtain point clouds in the PointXYZRTLT format, where each point includes its own timestamp. I understand that Livox Driver 2 supports this format for other models, such as the MID360.

My questions are:

Is it possible to configure Livox Driver 2 to obtain point clouds in the PointXYZRTLT format from the AVIA sensor?
If the AVIA is currently not supported in Driver 2 for this purpose, are there any workarounds?
Has anyone already modified Driver 1 to include per-point timestamps (PointXYZRTLT format) for AVIA, and if so, could you share any details or code for that implementation?

Thank you for your assistance.