I've been playing around with the Lego and Raspberry pi combination on and off through the years [1], with the goal of building a standalone tracked vehicle (pi on board) that can move around my apartment. There were various ways to do this already, mainly by using off the shelf motor controller boards and later the third party Bluetooth motor bricks. This was all for the old "power functions" system though, Lego has since revamped their lineup with a lot of new parts that all use a different connector. I'm really looking forward to getting one of these.
[1] https://www.colorfulwolf.com/blog/tag/raspberry-pi/