Most expression inputs are literally CV inputs. A voltage is sent to the expression pedal (typically on ring), attenuated there, and sent back (typically on tip). The tricky bit is that there is almost no standardization between pedal mfgs for voltage and wiring, so it’s a bit of a guess-and-check process. If you can restrict your CV to the 0-3.3V range, you are unlikely to damage anything by simply sending CV through a “floating ring” cable.
A cheap CV-to-MIDI adapter like CV.OCD could work for the MIDI functions.