Yes I did for using it with wifi-UDP. (Aog 4.3.10)
Have a look at GitHub - Lechnerch/AOG_Autosteer_ESP32: AgOpenGPS V4 autosteer code for ESP32
But: My software is for those motors which are built in 2020. For newer one my software has to be adapted a little bit.
Have also a look at Autosteer - Brushless Motor - #64 by stofficl