I don’t like dealing with the small pins on the pi, so I use a shield like this.

You’ll still have to connect some wires to your sensor, but you can buy some DuPont jumper wires that already have crimped ends to save you the trouble of crimping them yourself.

Plug your sensor into one end of the jumper cable. You can either cut off the connector on the opposite side and strip the wires to put into the terminal blocks on the shield or you can take the connector off and put the crimped terminals into the terminal blocks. Either way works.