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As the ZR300 SLAM library is for the ZR300 camer, I would recommend ORB_SLAM2 for use with the D435
The older ZR300 cameras (which have an IMU with gyro and accelerometer built in) are also still available in limited quantities from some Intel Authorized Distributor companies, like this one:
There was a paper recently on extending the depth range of the R200 model. The ZR300 has the same IR components as the R200, so the principles might be transferable to ZR300.
If D435 is your ideal choice then I believe that ORB2 will be a good way to achieve SLAM til the new V200 headwear, SLAM Vision Library and T260 Tracking Module are available.