For ARM-based microcontrtollers, QMK depends on the realtime OS "ChibiOS". ZMK depends on "Zephyr".
If the realtime OS has support for the USB device on the microcontroller, it should be supported by the firmware.
You will have to do some C programming, but hopefully not that much.
It should consist mostly connecting the GPIO pins to the columns and rows in the keyboard matrix the firmware uses.
The convention here is that a "column" pin gets strobed by shorting it to GND, and that "row" pins have pull-up resistors (usually internal) and are read.
QMK has support for several LED controllers over I²C, and most µC need to use special pins for that. Each rotary encoder needs two GPIO pins.