The ipumsr package allows you to read data from your IPUMS extract into R along with the associated metadata like variable labels, value labels and more. IPUMS is a great source of international census and survey data.
Over 200 Census API endpoints are available, including Decennial Census, American Community Survey, Poverty Statistics, and Population Estimates APIs. This package is designed to let you get data from all of those APIs using the same main function—getCensus—and the same syntax for each dataset.
Download shapefiles and boundaries with geographic entity codes (GEOIDs). TIGERfiles does not include demographic data.