Arm cortex based Input,output,analog in ,dac extension board programming to communicate to ESP 32 through i2c interface

We are looking at interfacing a esp32 with a custom ARM based io expander built using arm board like nucleo 144 to extend I O and analog input pin so that we can get 64 input ,36 output,and 8 analog inputs ,and one dac output

We need to create communication library for esp32 Arduino .

And arm programming for a nucleo 144 board. So as to create the IO extension

Kind regards

Rajeev patel