You can give it a try - if you do, please let us know how it goes.
Personally I would use PlatformIO rather than ArduinoIDE because the error messages are clearer and better, which is useful when doing this kind of thing.
Apparently this framework version runs in PlatformIO.
Anyway, once you have the framework installed in the IDE, you can just install the SimpleFOC library normally, but I would not expect it to work…
This GD32 chip is a clone of the STM32F103, so it should be able to do similar things, but in order to be able to control motors, SimpleFOC has MCU-specific PWM initialisation code… we have 14 different MCU types, but GD32 isn’t one of them
And even though it is like an STM32F103, it doesn’t look like the Arduino framework for it has the same APIs as the STM32 framework does. Our STM32-specific code uses the STM32 HAL (hardware abstraction library) to do the PWM initialisation.
So I’m guessing the exercise to get this working will mean writing a PWM driver (and if you want current sensing then also an ADC driver) for it…