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I am new to this but from my initial project requirements, I will need to join GPS Module and RFID Module to a Raspberry Pi 4. Do the GPIO pins support the required output? Is there any guide on how to join two modules to Raspberry Pi?

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Short answer YES.

The GPS module uses Serial = Yes you can do that with a Raspberry Pi

https://www.raspberrypi.org/documentation/configuration/uart.md

The RFID module uses SPI = Yes you can do that with a Raspberry Pi

https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md

And for the question about "How", there are a ton of tutorials on this topics that are easy to find.

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