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The PCM5102A does a great job. You can get modules for a few dollars, and can even get hat specifically designed for the RP2040. I've got one to work with an ESP32 with the Arduino Audio Tools library. Andreas Spiess has a great video on the subject.
For dual PWM, matias-levy used it with an STM32 in his version of MI Peaks, and the Mozzi library gives instructions on how to implement it as well. From what I recall reading the end result can be surprisingly good.
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