I've ported the new, optimized branch to work on the pi and also got the webserver almost fully working with all the new stuff. Ran into some interesting challenges along the way, like the rpi.gpio library straight up not working on the pi 5. But as you can see; the sensor is working, the relays are working (haven't gotten to the h-bridge driver yet) and one direction of the webserver is also working now.
It is honestly so nice to just have gigabytes of ram. Beforehand I had to link to large js libraries on another server just to not completely break the esp32. Now I can run the server, control the hardware, take hid input and drive a local display. Such a fun toy.