Why don't you want to use a Raspberry ?
You already have the design done, and it's cheap. If you put a Raspberry pi zero2 in there, you won't be able to get it cheaper using a microcontroller and you'll have to create your own PCB.
The requirements to use a microcontroller, instead of a Raspberry, are simply that it has I2C, UART and 10 GPIO ports. Pretty much any 32 bit microcontroller will do.
The problem is that right now almost everything is out of stock, due to the global semiconductor crisis. You could still find in stock some LPC or i.Mx from NXP, also some STM32 from ST.