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Use Lego EV3 sensors with Arduino Hackaday.io Very well made.
Hook up any i2c sensor hobby servo and more to your LEGO robot with the ESP32 board Antons Mindstorms Very well made.
I2C Communication with the EV3 Intelligent Brick SpringerLink Very well made.
LEGO Stepper Motor DIY Part 2 EV3 Controlling Stepper Motor Very well made.