ESP32 LYRAT - Interfacing to the world best way

[ottaviane]

Hello,
I just bought a fantastic LyraT and I'm messing around a lot. I think that it'll give me enormous satisfaction. My question is: what is the best way to interface the LyraT with relays and buttons? Should I use I2c or, for a few relays and a few buttons, should I solder directly to the feet of the ESP32? Or are there other more functional ways? Have you some documentation?
Thank you.
Regards