Firmware ESP32 -GPS, RFID, LORA, SD NAND

I have a esp32 device that needs firmware clean up for:
RFID scanning
GPS Recording
Writing and erasing onboard SD NAND
BLE and WIFI

I also need to create firmware for LORA

I also need a MENU driven interface.

All components need to be interconnected.

Use Case:
I am creating a tracking device that will scan RFID microchips in animals to identify them and then record their GPS data for about 20 minutes. the Data will be then uploaded to my server for processing. I want to use the LORA module to send and recieve data. the max recording size is about 5k bytes.