If you're going to controll your board with another board, you might want to also look at Klipper. If you decide to go this route, the Voron documentation has pretty good setup instructions, but obviously you'll have to work out the specifics for your build. I personally really like what you can do with Klipper (macros, tuning, etc) and find it fairly straightforward.
If you go Klipper, the PI will parse the g-code, and apply things like pressure advance and resonance compensation, before sending instructions directly to your printer board.
Klipper + mainsail is truly great.