PocketBeagle Grove Kit

I am looking for tutorials on how to reverse engineer the software architecture. Is there a tutorial explaining how the drivers are installed and created? I can trace the python code back to compiled python but this doesn’t inform me of other related files and driver content, etc. I want to add controls for the 4 channel I2C relay board and the 2 channel relay board. The Grove Kit does not include examples of using GPIO ports as outputs. Looking for more detailed software tutorials