TMC5130 by UART to RPi direct connection

Hello everyone,
i have a project where i need to use the 5x TMC5130A chipset drivers per board, this driver has oportunity to connecting by single wire UART to uniting the multiply drivers in the same net, please check the attachment.
Mybe anyone has proctise skills how to connect the driver like TMC5130 directly to RPi without any added glue logic such as STM32 or similar?!
Thanks in advance for replies!
 

It will probably require some glue logic, something like that embedds.com/half-duplex-uart-from-single-avr-pin/ to translate between halfduplex single wire and separate rx/tx lines on the rpi.