'What method and tool for regression analysis for a multimodal distribution in R? [closed]

I have a set of variables X1 and X2 and Y with relationship plot as shown below. X2 values are used for color coding.

X1, X2, and X3 are integer variables.

The observed pattern is multimodal.

What is the best way to predict Y based on X1 and X2?

Can we use non-linear or hurdle models for this?

Also what are the tools available to achieve this in R?

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