One thing though, take a look at this thread (I don’t know chinese, so can only understand what google translate provides) milkVDUO是否能打个转接板用树莓派的摄像头 - #5 by jesson
I didn’t play with Duo S, however, it seems smaller boards (Duo, Duo256) do indeed require external level shifting. But it sounds quite convincing, that as it worked with RPi camera V1, DuoS should be hardware-wise compatible.