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LAUNCHXL-CC1352R1: Have collector automatically open network

Part Number: LAUNCHXL-CC1352R1

I'm experimenting with a pair of LaunchPads running the collector and sensor demos.  For real world use, I want the collector to automatically start the network on power up (which can be done using CONFIG_AUTO_START), but would also like it to automatically allow sensors to join the network.  Likewise, I want the sensors to power up and immediately join the network.  What are the necessary and sufficient steps to accomplish this?  I haven't been able to tell from the documentation when it would be safe to call Csf_openNwk() on the collector side, for example.

Thanks!