Hey Pete,
Scott from Adafruit touched on this a while ago in one of his deep dives: https://youtu.be/LXAwW2IYT7o?t=1931
The proposed idea was to run a different language on each core of the RP2040, CircuitPython as the ‘handler’ and C running all of the ‘real-time’ tasks.
Once you start talking about a control system it would also be worth taking a look at threading tasks, making sure that you can execute them in a prioritised order and periodically (note interupts as well).
You could also go the route of using a few microprocessors running different languages to handle the sensors and a main processor for Comms. The Pico (also the heart of the RP2040 Connect) is $6 and a very very good value MCU. I2C would be perfect for this, see Core’s smart modules for some inspiration and Rob’s stackable control units
