In order to connect an external sensor to the available pins, will we need to create our own version of the FW in order to communicate with the sensor? Or are there generic methods to communicate?
Your believe in "general enough" FW plug which will allow any team or dev to plug whatever and do what they sketched on the whiteboard during last brainstorming is nice, unfortunately I've never seen this working in real;) And Homekit or mesh networking won't help you, they actually make the picture and solutions even harder. Right now you have Thingy as great HW platform with the (al)most powerful BLE SoC on the market so write a minimal FW with well designed OTA (and/or wired) bootloader which will allow you to extend the things in the future if you need and you can go. And that part is kind of inevitable, if you give bootloading architecture into hands of anyone else then you cannot cry later if it's not generic or secure enough for your purpose. Every serious platform/device manufacturer solves this on his own, this is the most core thing in this business you can get. My view.