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I am getting into making my own embedded system and I wanted to use an open source OS to run on it but I can’t seem to find any information for making a completely customized GUI (Meaning desktop Icons, Menus, and windows). Would anyone know how to go about doing this? Or could point me into the right direction to research?
You’ve got quite a vague question there :
Here is an article on how to port Android to an embedded system
You can start by learning android development.
Developers have full access to the same framework APIs used by the core applications. The application architecture is designed to simplify the reuse of components; any application can publish its capabilities and any other application may then make use of those capabilities (subject to security constraints enforced by the framework). This same mechanism allows components to be replaced by the user.