So I don’t have a Unicorn hat, but for the Explorer phat on Jetson Nano (still within the topic) you run into the problem that NVidias RPi.GPIO adaptation does not provide PWM on the pins where they would be needed.
I managed to get soft pwm running, but need to work on packaging. My adapted Tiny-4WD drives with that (but alas, I need to move the Jetson Nano to make the second eye fit):
Best regards
Thomas