ROS Leader/Follower Updated for Noetic and tf2

I am referring to Solving the ROS Challenge of the Week #7 - YouTube from 2 years ago.
I would like to know if anyone has done this challenge using ROS Noetic? I would like to run this using Noetic but it uses python 2 and the old tf package which is deprecated. If anyone could point me in the right direction to make this compatible please lmk!!
Thank you!

Sorry no Noietic version available. That is an amazing opportunity for you to do the conversion and learn a lot!