Just in case you were unaware, the RP2040 is available on dozens of ready-made, arduino-compatible boards like the Pi Pico, the Adafruit feather boards, of the Seeed XIAO RP2040 boards. Those have all (or at least most) of the IO already mapped to pins, USB headers, booatloaders, reset buttons, etc already mapped.
Things like the Pico are really easy to solder onto a designed PCB as well because of the castellations, so it's easy enough to design a board around the footprint and then just solder the entire pico onto your PCB with a soldering iron, avoiding the need to use something like a hot-plate or reflow oven. This has been my preferred way of working with it.
Yeah I've got a variety of dev boards already, but thought moving away from that as part of a move to PCBs might make sense. Esp given the cost diff - raw rp2040 seems to be at least 1/5 of the dev boards. Dev boards are probably the better deal overall, but also less scope for learning
Things like the Pico are really easy to solder onto a designed PCB as well because of the castellations, so it's easy enough to design a board around the footprint and then just solder the entire pico onto your PCB with a soldering iron, avoiding the need to use something like a hot-plate or reflow oven. This has been my preferred way of working with it.