As @Joe said, the easiest way to connect to SAS is often through the Python package saspy. sasquatch allows you to use reticulate to connect to saspy, start a session, work with SAS interactively, knit SAS chunks within quarto documents, and pass variables between SAS and R. If you have saspy set up, you've done the hardest part. This video might help if you are struggling to set saspy up.

There are other packages though. Roche has published sasr, which allows you to connect SAS and R, but it does not have some of the interactive features or a knitr engine. There is also configSAS which focuses almost solely on knitr support.

Disclaimer: I am the developer of sasquatch and sasquatch is very new at this point.