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Example application showing custom driver development

Longtime mbed user, first time trying zephyr. I'm hoping to find an example application that shows the expected file structure/CMakeLists/KConfig for a project that includes some sensors that aren't already in the zephyr library. I expect this would help almost everyone who's new to Zephyr and is developing an application with custom hardware. Right now I'm simply not sure what an actual zephyr-based product file structure should look like. Any help/links much appreciated!

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