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Ender 3 Pro with a glass plate is great starting point. Huge user base. I have 2 of them.
The only wrinkle here is that you want to print flexible material, so you will need a direct drive. I do not have experience with anything flexible, so I am no help with that.
I use sketchup, but its poor for making complex curves, so you may want to look elsewhere for CAD software. I think Fusion 360 and Tinker CAD a popular entry level packages.
Use Cura for your slicing.
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