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To parse an ArduinoJSON one simply needs to

  String JSONpayload = "some JSON here";
  StaticJsonDocument <512> geoLocationInfoJson;
  DeserializationError error = deserializeJson(geoLocationInfoJson, JSONpayload);
  if (error) {
    this->mserial->printStrln("Error deserializing JSON");
  }

To use the values within the StaticJsonDocument one first needs to

if ( geoLocationInfoJson.isNull() == true ){
  String dataStr="NULL geoLocation data.\n";
  Serial.print( dataStr); 
  return true;
}

next, is required to verify if a key exists. If TRUE, then is mandatory first to get the desired value into a corresponding data type, like below, and only afterward work on it, for instance, send it as a BLE message string:

if(this->interface->geoLocationInfoJson.containsKey("lat")){
  float lat = this->interface->geoLocationInfoJson["lat"];
  dataStr += "Latitude: "+ String(lat,4) + "\n";
}
if(this->interface->geoLocationInfoJson.containsKey("lon")){
  float lon = this->interface->geoLocationInfoJson["lon"];
  dataStr += "Longitude: "+ String(lon,4) + "\n";
}

if(this->interface->geoLocationInfoJson.containsKey("regionName"))
  dataStr += String(this->interface->geoLocationInfoJson["regionName"].as<char*>()) + ", ";  

The full code above is available on this GitHub repository:

https://github.com/aeonSolutions/aeonlabs-ESP32-C-Base-Firmware-Libraries