Newbie: Arduino MEGA 2560 to TMC5160T wiring

[rudibr]

In a project, where I have to drive an Alt/Az telescope mount with two NEMA 17 Bipolar
Data sheet: https://www.dropbox.com/scl/fi/bamu2rfkfatrha0yyexck/17HS19-2004S1_Full_Datasheet.pdf?rlkey=6kmdzl3kiz0q1l13s2h8veds8&dl=0

I am building my project based on an Arduino MEGA 2560 (need a lot of digital pins for the interface):

Having searched the TMCStepper project here on github and arround the internet, I still haven't found a guide in how to wire up the Arduino MEGA and the TMC5160T driver. I would like to see and implement a simple "Hello World" example, to verify that I can control the motors from my Arduino.

Can I control the NEMA motor from an Arduino directly through the TMC5160T driver - or do I need additional hardware?

I got this advice from a friend:
+12V and GND : to 12v and GND
VIO/GND : 3.3 - 5v from Arduino
A1, A2, B1, B2 : To motor coils on NEMA 17
EN: to Arduino
CFG1, CFG2, CFG3: to Arduino for microstep setting
CFG0: is shared between the drivers and to the Aduino
STP and DIR: to Arduino

But I cant find a guide on how to set it up in software.
I'm a bit nervous to experiment and do trial and error testing, another friend of mine toasted both his motors and drivers on another project :-O