ICM-20948 DMP

Hi everybody,
as far as I've read from this forum and other ones it seems like I am facing a very common problem: how to enable DMP and read quaternions out of ICM-20948.
I have successfully tried the DK and the performances convinced me to go for this chip, but now that I have to communicate to it within my own system (microcontroller nRF52832, over I²C) I am not able to find a clear explanation on how to do it.
So, I dare to ask, is there anybody that could help me (and other numerous users)? Any advice/documentation is more than welcome.
Thank you!