The STM32G474CBT3: The 128 KB of Flash and 128 KB of SRAM are balanced for mid-complexity firmware. It comes in a 48-LQFP package with 38 I/O.
The internal oscillator allows boot without an external crystal.
Analog integration — ADC and DAC count
Twenty 12-bit ADC channels and seven 12-bit DAC channels are on-chip. That is a lot of analog I/O for a 48-pin MCU — enough to sample three-phase currents plus a DC-link voltage while generating multiple analog references or setpoints. The peripherals include CANbus, I²C, SPI, QSPI, UART/USART, and IrDA, so it talks to most sensor and actuator buses without external transceivers beyond the physical layer.