If you can use the PRU instead, that's a lower barrier to entry - in some ways. For stuff that needs to be more or less +/- 1 msec in latency, an Arudino or mig

If you can use the PRU instead, that's a lower barrier to entry - in some ways. For stuff that needs to be more or less +/- 1 msec in latency, an Arudino or might be an easier choice, dependent on size, weight and power. Th real problem with the PRU is that its more or less single vendor.