Motor Controls: FPGA vs Army of PICs

Planning to do a hobby level little robot dude. Would like to over engineer the stepper/servo motor controls. Kinematics + ADC joint encoding + blah blah...

I know industry has a lot of FPGAs in robotics. I'm guessing mostly for timing and the 300 IOs mostly.

Instead of having a Teensy 4.1 (ARM M7), try ripping through problems AND sending out signals to stepper motor drivers... I was going to offload the scheduling work to an FPGA.

Some motions are routine almost like G-Code. Planning on calculating them, and send them all to the FPGA at once and stored into a buffer. Then my main MC can go do more calculations and not worry about timing.

I can do all of this with a larger FPGA. FPGA will help with the ADC stuff too. HOWEVER... I could just use like ten $0.20 PIC 8 bit microxontrollers to do a lot too...

Why do this? Because I couldn't find a driver IC that had any memory functions. Do they exist?

Has anyone else seen this done before?