Communication with STEVAL-MKI109V3 kit

[FKara.3]

I would like to use STEVAL-MKI109V3 with LSM6DSV16x Imu sensor. I have other tools like ESP32 and some sensors that controls autobrake system based on IMU data. I communicate between ESP32 and PC(Python) through BLE. However, if I add STM32F401VE. then, I need to communicate among these three (ESP32, STM32F4, PC) What is the best way to communicate with ESP32,STM32F4, PC?