Merge hardware sub-branches into main & resolve conflicts (REV A Finalization)

[VincentCadicamo]

Description

Overview
We need to consolidate all active developmental sub-branches into the main branch to clean up the codebase and finalize our schematics/firmware alignment for REV A.

Tasks to Complete:

• Merge STM32 into main
• Merge TMC5160 into main
• Merge CAn_interface into main
• Merge ASP07 into main
• Identify and resolve all incoming merge conflicts across these branches.
• Verify that the integrated codebase builds successfully without breaking existing configurations.