How to interface IO Link devices to Xavier board without any gateway/additional circuit

I am planning to use a distance sensing device like this distance sensor with the Jetson Xavier board. I read that the interfacing requires additional gateway like this.

Due to the reasons like cost saving, etc, is it possible to avoid this gateway… such that the analog output of the sensor can be interfaced directly with the board or via other methods?

No analog input is acceptable to Xavier. All IOs of Xavier are listed in OEM DG doc which should be followed on a custom design.