Hi there,
You’re NOT alone in that for sure. Great project too. the servo’s and encoder’s are rapidly becoming the stars 
of the Robotics’ and mechanical automation sectors. Seeed even has a servo PCB now too. 
So this field is evolving. Espressif is a Hoser though IMO. too many similar but different ESP’s one just slightly different than the next… NO REAL game changing Tech in their though.
But I know , even Better stuff is in the Pipeline at Seeed 
STay tuned! 
HTH
GL 
PJ