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Turtlebot3 Burger and Waffle are sold as package so customizing your order will be difficult.
Turtlebot3 is running on the ROS based on Linux, I believe you can use the SBC as long as it supports Linux(Ubuntu 16.04), USB port, Wi-Fi connection.
Please check the operation voltage/power consumption of the SBC as OpenCR might not support power recommendation for a custom SBC.
Please understand that customizing the original package may void the product warranty.

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