I was thinking about Teensy 3.5, because it has DAC, but it is discontinued, unfortunately. Raspberry Pi Pico seems interesting, but it has PWMs only, which can be converted to DC voltage signal using PWM-to-Voltage converter.
- for the MCUs - I prefer open source software. So https://developer.arm.com/Tools%20and%20Software/GNU%20Toolchain, or https://developer.arm.com/Tools%20and%20Software/LLVM%20Toolchain for development with C/C++, and https://doc.rust-lang.org/nightly/rustc/platform-support.html for development with Rust.
- for the FPGA - unfortunately, although there are open source initiatives, for now it is best to use the software provided by the respective company
To design the printed circuit boards - https://www.kicad.org/
Thank you, Nikola, for all this interesting information.
I am not an electronic engineer, so it is much easier for people like me to use micro-controller boards (not just IC), which I could just connect to my sensors, actuators, amplifiers, motors, etc., then write my software to read and control them, collect all the data, and calculate results.