The pico pi works on 3.3 volts and as far as i understands also expects the "outside world" to comunicate with it on 3.3v instead of the 5v used by our recievers and servo's.
So for the "proof of concept" experiments a "level shifter"? chip (3.3 in/ 5 out) might be needed.

If eventionally it works it might be practical to design a circuit board and get a batch from the likes of pcb-way to create a single board unit.
Have acces to smd assambly equipment (and the people who know how to use it) so could make a full intergrated smd version.

First lets se how long it takes for these pi's to arive..