A bit legacy these days, but I liked the old Zynq 7020 dual core ARM with reasonable LUT counts.
https://www.youtube.com/watch?v=FujoiUMhRdQ
https://github.com/Spyros-2501/Z-turn-Board-V2-Diary
https://www.youtube.com/@TheDevelopmentChannel/playlists
https://myirtech.com/list.asp?id=708
The Debian Linux example includes how to interface hardware ports.
Almost always better to go with a simpler mcu if one can get away with it. Best of luck =3