IWR1642BOOST: People Counting and Tracking Using mmWave Radar Sensor With Sub-1 GHz Ref Design - Attaching the CC1352

I am going through the design guide for the TIDA-010022. In this guide, it says that the IWR1642BOOST can be attached directly to the CC1352 once all hardware modifications and firmware have been loaded onto the launchpads. Do these chips connect together directly by the long pins on the front of the CC1352 and the pin input slots on the IWR1642BOOST? If so, are there any other modifications or connections that we need to make to have the sensor CC1352 and the IWR1642BOOST connected directly together?