Upgrading exhisiting PCB prototype Design & Programming

We are looking for an engineer team which has a good PCB design skill with motor driver knowledge and experience with good programming skill. This project is to upgrade our current PCB(Old prototype: having some issues) to update version. We will make one prototype PCB to test. This machine has the following system: 1x main CPU (GD32F450IGH6) 1x AC motor inverter (RS485) Command input 1x sensor Up to 5x stepping motor ( synchronized, need fast movement) Up to 5x sensor 1 x DC motor 1 x sensor 1 x SBC( RPI) need to connect to main CPU ( need to have fast communication ) 3 x stepping motor 3 x sensors 1 x DC brushless (small ) 2 x stepping motor 3 x COM to other device Ethernet We will send the current prototype PCB info induvidually when we decide to proceed. Current prototype board has following isseu: - A couple of layout mistakes - DC motor driver ( currently DRV8434 can't have enough power) Maybe has issue of motor driver software. - Stepping motor driver ( TMC5160A-TA can't have enough power) Has issue of motor driver software. - Stepping motor driver ( TMC2130-LA can't change the motor speed correctly ) Has issue of motor driver software. - Main CPU controls each motor driver directly. ( can't change the movement fast) - Very slow communication from main CPU to SBC - RS485C line has issue. communication fails often times. Skill requiment: PCB design/ PCB layout/ good IC chip knowledge with cheaper cost/ New CPU configuration as well as driver software programming/ Motor driver controlling experience Output: - PCB data Circuit data/ Gerber data/ BOM/ pick and place data/ anyother data to produce PCB board - Driver software as well as CPU configuration At least, engineer need to evaluate each IO if it works correctly. - Software update firm. - Suggestion and Advice to achieve our project successful. Timeline: - 1.5 months