We present a hybrid integrated platform that interfaces a selector-less memristor crossbar array with peripheral row and column instrumentation for array-parallel programming and readout for AI learning and inference applications. The proposed switched-capacitor voltage-sensing instrumentation avoids the need for current-sensing schemes that are typically used to mitigate the sneak path issues in selector-less crossbars but are less energy-efficient than voltage-sensing. The system offers programmable sense times to characterise memristors over wide range of resistances and the capability to switch between a transient-domain measurement and steady-state measurement to offer the desired trade-off between accuracy and energy efficiency during inference parallel readout.