I think @runger did the rp2040 hardware specific stuff.
He really knows simplefoc so I wouldn’t be surprised if you can get your new board working out of the box.
https://github.com/simplefoc/Arduino-FOC/commit/3fc05d2edeb73d918a202ac226c269f98988bbba
It would probably take more thinking/work to put in safety features, it is very easy to fry your board with simplefoc it you don’t set appropriate limits for your setup.
Can you share schematics? You mentioned steppers, Does it have 4 half bridges? What drivers? It’s possible that you could use simplefoc for both bldc and steppers.
I’ve got good things to say about Pimoroni, they really helped out with 3d printing support for teams wanting to print stuff for NHS during Covid.
Doing some micropython wrapper around simplefoc would be super cool.
Getting simplefoc onto your board might really help us grow the community 
.