UART Communication using STM32 Nucleo

Hey everyone! I know there’s a lot of people who have used UART protocol to work with the VESC over the years, but I am currently struggling hard with it. For context, I am not using Arduino, I am using an STM32L476RG Nucleo board and for the purposes of my project, I need to code it on the register level rather than using a library such as HAL or Cube. Has anyone done a project like this before or seen someone do this before and maybe has some tips? I am using VESC 4.12 and have updated all firmware. Anyone got anything for me?