I'd like to learn more about firmware and wanted to know which Teensy board would work for this.

CLIENT_CODE <---- USB communication ----> SOME_HID_DEVICE

CLIENT_CODE: i plan to write in either rust, c/c++, or python
SOME_HID_DEVICE: i would like a recommendation on what boards can operate like this. I would then try to write/extend/augment code (language agnostic) to be able to send/receive custom data over USB

does anyone have recommendation for a teensy that can support SOME_HID_DEVICE? any examples that are not a keyboard or mouse would also be greatly appreciated.

thank you!