So after making the PCB, I realized that the microcontroller has no power source when the machine is powered by the 24V power supply. It is only powered when it is being programmed. The good news is that it only needs to be programmed once, so the USB-C port can be used for powering it after.
However, there is no inbuilt voltage regulator from 24V to 5V, and there is no space to add it in right now. So, my plan is to make a seperate PCB that handles the power.

So 24V flows in via the power supply. This is outputted on the other side into the PCB, however, there is a linear voltage regulator that bumps it down to 5V as well. This 5V goes to a power only USB C receptacle, which can plug into the board.

Here’s a rough sketch:

First I made the schematic, nothing too complex.

Then I just made the PCB and did the footprints

I made sure to do all THT since it would be a huge waste of money to get this assembled. It should be like $2 for the PCB and then a couple cents for the components.