Which breakout board do I need

Mesa 7i92 and 1 or 2 of cheap BOB, or even better get a Mesa 7i96S that has almost eveything you might need, and if you do need more get a Mesa 7i76E now or get any daughter board for the 7i96S later.
All use LAN/Ethernet, all can be expanded with more inputs/outputs, stepgens, pwmgens, encoders, etc.
Never mind the price, if you can afford it get the 7i96S and ask questions later, even the owner of Mesa helps here all the time so support is by far the best on planet Earth.
Look here:
www.mesanet.com
www.mesaus.com
If in USA, or
www.eusurplus.com
If in Europe.
P.S.
No affiliation with Mesa, i am just one of many very satisfied users of their products