Upgrading exhisiting PCB prototype Design & Programming

We are looking for an engineer team which has a good PCB design skill with motor driver knowledge and experience with good programming skill.

This project is to upgrade our current PCB(Old prototype: having some issues) to update version.
We will make one prototype PCB to test.
This machine has the following system:

1x main CPU (GD32F450IGH6)
1x AC motor inverter (RS485) Command input
1x sensor

Up to 5x stepping motor ( synchronized, need fast movement)　
Up to 5x sensor
1 x DC motor
1 x sensor
1 x SBC( RPI) need to connect to main CPU ( need to have fast communication )
3 x stepping motor
3 x sensors
1 x DC brushless (small )
2 x stepping motor
3 x COM to other device
Ethernet

We will send the current prototype PCB info induvidually when we decide to proceed.
Current prototype board has following isseu:
- A couple of layout mistakes
- DC motor driver ( currently DRV8434 can't have enough power)
Maybe has issue of motor driver software.
- Stepping motor driver ( TMC5160A-TA can't have enough power)
Has issue of motor driver software.
- Stepping motor driver ( TMC2130-LA can't change the motor speed correctly )
Has issue of motor driver software.
- Main CPU controls each motor driver directly. ( can't change the movement fast)
- Very slow communication from main CPU to SBC
- RS485C line has issue. communication fails often times.

Skill requiment:
PCB design/ PCB layout/ good IC chip knowledge with cheaper cost/ New CPU configuration as well as driver software programming/ Motor driver controlling experience

Output:
- PCB data
Circuit data/ Gerber data/ BOM/ pick and place data/ anyother data to produce PCB board
- Driver software as well as CPU configuration
At least, engineer need to evaluate each IO if it works correctly.
- Software update firm.
- Suggestion and Advice to achieve our project successful.

Timeline:
- 1.5 months