Hello, I have very good experience with Arduino boards.
I am a vice-champion in an international robotics competition, where I used Arduino, and ESP32 to let robots communicate.
I can fulfill all your requirements. I need to know if you're interested in my offer today or tomorrow morning, as I need to buy an ESP32 before Friday because all electronics shops will be closed then.
You can view some of my work here, it is in French but I can do it in english
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Thank you for your interest.