Micro control dev selection to read RTY090LVNAA 5v analog data,run MG90S servos


I need a design help and fast prototyping Micro controller Board to Read 5v ratio-metric analog data and drive four MG90S servos…

Requirements Overview…
-System should be running out on 12V Battery.
-Dev Environments - Python or C++
-Should be able to perform complex geometrical math functions.

Does Esp 32 boards can Precisely read 0v-4.5v analog input at their ADC pins ?