Yes you can do birdsnest wiring, but to make it work with today’s AOG program, you must follow the pcbv2 type schematics like they do in this thread. Help with steer motor
To get parts, then Google Nano, and ibt_2, to buy in your area.
Some also use an imu (not neccessary) which today would be bno085.
You can exchange ibt_2 with cytron md13s motor driver which most people use today (I still use ibt_2 in my systems running the latest AOG programs)