Sensor Fusion in ARM microcontroller through MATLAB Code

I am trying to code an IMU and GPS Fusion for Inertial Navigation algorithm in Matlab with the help of a Kalman filter, and then somehow have it run into a Teensy 3.x or/and a Teensy 4 microcontroller. Is that possible? Teensy 3.x has a 32 bit 180 MHz ARM Cortex-M4, and Teensy 4 has a 600 MHz Cortex-M7 processor. I have seen this add-on https://uk.mathworks.com/products/embedded-coder.html but im not 100% certain if it supports the libraries needed for sensor fusion.