Hello @rania,
If you are using the NetworkManager, you could consider using its D-Bus API.
In general, you need to check which group is needed for the hardware you want to access.
This is not specific to Yocto or Toradex, but more general to Linux.
You can see on the following page how we do this for Torizon OS: Best Practices with Peripheral Access | Toradex Developer Center
Best Regards,
Bruno