Read data from module INA3321

I would need to read the VCC_CPU, VDD_GPU, VDD_SOC from the INA3321 sensor, which is inside the SOM. Its seems that this module is connected to the I2C bus n.2 which is also broken out on the GPIO Expander.

Is it possible to read these values while the unit is working? If yes, what is the best way to do that?

I was thinking to use a small board (like raspberry) to get these data over I2C. Should the raspberry act as a slave i2c device or master?

I know there is the tegrastats utility to read various data, but I would need direct access to the raw data.

Why does it matter with raspberry?
You can read any i2c slave device connect to Xavier from i2c bus.

OK, thank you for the clarification.