I moved CAN to the same place as the X Hub and will be using this from now. Added jumpers for RS485 vs UART out. The rest is as before:
- ESP32
- RPI connector using SPI
- CAN port
- RS485/UART port
- USB Serial/Programming port.
- 5 x Sensor ports.
The X Hub is a better match for Raspberry PI, but this can replace Raspberry PI to get Wifi and with the CAN port you can stack up IO as much as you want.