Ideas for remote DAQ and control of fixture

Hi, I’m preparing a proposal for my employer to transition our development fixtures to be operated by software developers at home via remote link. These fixtures typically have a Microchip PIC controller with a brushed motor drive card that operates a door on a fixture with encoder feedback. What I would like to do is allow the SW developer from home to operate this fixture remotely and be able to collect serial data such as digital Hall Effect signals, current draw, analog sensor signals. I would appreciate it if you had a suggested setup from your line of products that you would recommend.