I guess that makes it harder with those imitations. Can you design a discrete TX Rx. TV remotes often use 38KHz IR Pulses for logic 1.
* THere are dozens of protocols now. with IR . and depends on bit rate, distance and type of data you need.
Left ribbon menu has many results of some common protocols for IR but by no means all methods.
https://www.sbprojects.com/knowledge/ir/rc5.php
Start simple.. as mentioned, with PWM, bi directional motor with full H bridge without memory using 50% for stop for ease.
Then consider macro commands, sequences, auto zero, auto stop then off, ramp to position slow with digital data.
Once must consider power to move and stop then hold states. Brushless Stepper motors have a weak magnetic stop position. Consider types of motors you need.
I dont know what range of functions you need
. Inputs, Outputs, functions... Analog or digital etc...