Help with necessary components

Hey all!

I’m in the process of making an autonomous rover with a robot arm on top and I need some assistance.
I believe at least two DC motors, three steppers, one servo will be necessary. I need to use a raspberry pi since I want fast communication and control and also want to use the camera.
How would I go about connecting all these motors and actuators to the RPI? I would found this for the older RPIs Adafruit DC Stepper Motor HAT for Raspberry Pi - and the PiStep2
Anyone else has a better idea?

Thanks in advance!