Vending and self use machines (controll board to make and software)

We need first to solve main issue it's what hardware to use for our need. We build this self wash machine (it's like 6 buttons and 6 relays) simple operation... But need to have remote access (wifi,lan or GSM) to read like minutes or money in machine... Also need display like touch or just LCD to display remaing time/money to user. It needs to receive pulses From cash acceptor and coin acceptor... Also this controller should be adjustable that we can use with LCD or some touch screen because we need different machines to run not just this dog wash machine... Also need to build different types like self stand for selfies... Like photo yourself and get image... (Pay money and photo yourself and get printed image... ) Other one is to open also relays also self using machine it needs to receive card payments like ingenico machine cards credit/debit cards... To implement also in using machines... So what's best to use one kind and to get stabile machine in all conditions... Some ready made PLC, or some board android or Linux or build custom for evermachine... This is first to get info before proceed to build software and get all running. We already used like Roseberry pi (it's ok but not very stabile and cannot use all screens) PLC ok no remote access cheaply and other options... Esp32 is not stabile so much so we have software ready in Linux and also in esp32 board also... So it can be used very good to implement in what you recommend... Respond detailed please not just welcome message if you did read this...