Are you thinking about simple TOF distance sensors (like VL53L0X or TF-LUNA), or rotating ones?
In any case, all you need is a UART or I2C interfacing solution.
Anything like Arduino or Raspberry pi Pico will do it.
By the way, you could be interested in my Fraise framework, which aims to simplify the firmware development and the pd<>firmware communication.
It is still in construction but is already useable. I recently added Pico support, and I'm working on a better documentation.
Hope it helps.
Antoine