TMS320F28388D: AM263 vs TMS320F28388D for EtherCAT and HRPWM requirement

Tool/software:

I have found that both modules are capable of sub-ns PWM (150ps width preferable) along with support for EtherCAT slave. I require about 50+ slaves in my EtherCAT network, I will have a PC acting as the node network master, the messages will be moderately small (maybe 200-300 bytes per datagram payload) and I would like to know which of these modules might be better to achieve these goals along with a few others:

- Require about 10-20 GPIO
- Require about 10-20 ADC channels
- Strongly prefer QFP or QFN over BGA (Something I would want from the TMS320)
- Require EVAL board for either to start
- Require synchronization of 50 slaves for PWM, but not exact synchronization, if possible I want them staggered by 50-300 ns, example: 0, +150 ns, +220 ns, +200 ns, + 350 ns. Something like this, where the jitter is limited. I was reading for Beckhoff ESC the jitter is low, like <20 ns and for the AM263x in particular it read I believe 30 ns.
- At first, I thought these were capable of EtherCAT G, I found in a forum that the SItara processors might include compatibility with EtherCAT G in a future update
- CAN support
- Comparator module for current control
- Software support would be nice, maybe some advice as to which module has more SDK support, to lower development time. I was reading a project that set up an EtherCAT network with a Sitara processor. Maybe you know if HRPWM on one is more reliable, etc.

At this point, my search has led me to these two modules so I would appreciate if you had some input to help me out.

Thanks!