How to Download images using Mapillary API v4?

Hi I am a high school research intern at GMU University and am trying to navigate my way around the mapillary API v4 using the Get Started Blog.
While the blog outlined how to get information such as object detection and other metadata I couldn’t find any info on actually downloading an image as a (jpg, png) given a specific image ID, tile, or geo coordinates. Any help on this would be much appreciated!

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I’m bumping this post. This ought to have been the first item in the documentation. @tao this directly correlates to my issue as well.