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Probably yes, but it will, of course, require rewiring of the extension headers. Also, if you want to use I²S, then the Pico must provide the I²S clock and I don't know if it can do that. And the software need to be adapted too, so it won't be super easy. Please let me know if you succeed.
I'm not a fan of ESP32's. But I love RPi Pico's. I havn't checked the pinout yet, so I'm asking if this board could be used with a Pico(W)?
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