A while back we commented on this topic:
Has anyone made a PCB HAT/Backpack for ODrive GPIOs? - General - ODrive Community (odriverobotics.com)
We’ve been working on this and designed a shield that fits the V3.6 pin rows (the two long rows only).
Until we have some more info from our partners on open source hardware licenses I can only share the schematics with you. The layout / full git repo may follow later but you can always comment or pm me for questions.
More later, I hope