SharePoint Workflow Approval + UiPath

Hi Guys,
I have a challenge, I would like to create a dynamic workflow in SharePoint whereby if a user wants to send a document for approval, they just input their approvers and attach the document + comments then it goes for approval.
Currently we have different workflows for different solutions, just want to collapse them into one but more dynamic

(Approval should be sequential and in every interface, the comments and approval decision (approve/Reject) is captured for the next approver to see.

Has anyone done this before?