Hi @sciallino,
Yes, in fact, to this day I continue to use the Raspberry Pi Pico microcontroller for stepper motor control and lighting on my scanner.
At this link you can see an image of the Raspberry Pi 5, prototyping board with Pico and Rasperry Pi Debug Probe assembly.
It works very well. The designers of the Pico microcontroller had the brilliant idea of including programmable peripherals called state machines that operate with their own clock completely independently of the CPU. These state machines are ideal for controlling stepper motors.