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You can use the Product selector guide to choose the best device for your application. If you are looking for BLE, CapSense, DMA and UDB, we believe that PSoC 63 BLE device will be the best fit for your application.
Other PSoC 6 products: https://www.cypress.com/products/32-bit-arm-cortex-m4-cortex-m0-psoc-6
If you need to develop your own peripherals using UDB, you need to use PSoC Creator IDE for the same. Currently, there is no support for UDB in ModusToolbox IDE. However, we have few community contributors like RoNo_264271 who have been successfully able to import UDB components from PSoC Creator to ModusToolbox. You can use it for reference. However, please note that this method isn't officially recommended/ tested by Cypress.