After overly testing the Last mother board, I listed some issues that lead me to design an optimized version of the mother-board, The new version has the same features of the last one with few improvements.
It features: (* New)

• *STM32f407vet6 rather than the STM32f405rgt6.
• 12 PWM outputs for the servos
• 12 ADC inputs for position feedback
• 12 current sensing circuits for force estimation feedback
• *lsm6dso32x and hmc5883cl magnetometer working as a 9DOF Inertial measurement unit with interrupt pins attached to the MCU.

• *On-board Esp8266 for AT commands, and UART port exposed for programming it
• *Load switch on the Servo Power, this Load switch is activated by a GPIO and the MCU Reset pin, if the MCU is in Reset mode, the power to the servos is cut-off, this is to remove the random chaotic servo moves when the microcontroller is in reset mode.
• *New IC for battery management, (Charge through USB-C, and Balancing)
• *DCMI interface and a ov2640 camera breakout
• *SD card with SDIO interface
• *3 Ultra-sound sensors GPIOs with connected Trigger pins
• *UART port exposed for any expansions needed
• *Better current consumption (9~25mA vs previously 20~50mA)
• *All ADC inputs are protected with clamping Diodes and resistors.
• *Better Isolation between the Power planes and the I/Os
• *lots of indicator LEDs and Test-Pads(check the layout + Schematics)

As you can see, there are 3 boards, the Mother board, the camera breakout , and an ST-LINKV2 to mini SWD breakout, of course, they are meant to be separated

you can Check the schematic and GRBR files in the project files section!