Is MIPI I3C Basic royalty free?

The parties that directly developed the MIPI I3C Basic specification have agreed to license all implementers on royalty free terms, as further described in the I3C Basic specification document [MIPI10] . Further, all implementers of the I3C Basic specification must commit to grant a reciprocal royalty free license to all other implementers if they wish to benefit from these royalty free license commitments. And, of course, MIPI itself does not charge royalties in connection with its specifications.