The one advantage of the Raspberry Pi is it's the one with the most of everything. Other noble competitors, like the Beagle, are pretty good too but getting anything to run on them can be really frustrating.
I mean I'd think you'd prefer an arduino for this application over pretty much everything else since you can quickly upload small programs to the arduino that keep the "fast" logic on the arduino.
https://www.banggood.com/ATmega328P-Nano-V3-Controller-Board...
14 GPIO (although with hacks you can do more), including 10 bit DACs on all of them, and 4 with hardware PWM. Most have alternate functions, like I2C, that can be used.
Cool thing about them is that you can write in C-like AVR code (like Arduino), or micro versions of Lua, Python, and other choices.
btw ESP32 are reaching the 6-7$ range for module + serial board.