I don’t want to work at cross purposes here with @amilcarlucas but you don’t need to use Aux outputs for bi-directional Dshot, which you want whether you have serial ESC telemetry or not. If you leave them on the main outputs and use the parameters I posted you will have Bdshot supplied RPM. If you move them to the AUX outputs you would need to change the Bdshot bitmask.
As @dkemxr suggested I changed BRD_IO_DSHOT=1 and MOT_PWM_TYPE=5(DSHOT300)
I am able to get DSHOT300 output on pin 1-4 but still I am not getting the RPM telemetry
What should I do now, and just asking for my confirmation on Status Tab in mission planner there is a message esc1_rpm, would I able to see a non zero value of esc1_rpm on arming if I am getting ESC telemetry properly or do I have to do a test flight and then I have to check the logs @amilcarlucas
Just need to arm it. If RPM information is present it should arm fine. If it is not present it will issue an error (if the ESC_MIN_RPM is configured correctly 07_esc.param with the configurator software)