A company would probably not give you the time of day, but there are hordes of garage hackers with the equipment and knowhow that you could hire on a consulting basis and get some PCBs made and stuffed with parts.

$10,000 sounds like a nice tidy price if you're trying to get a small quantity of boards built and shipped.

You didn't mention how much you have designed so far. Is this just an idea, or are you all the way to a schematic with bill of materials? The closer you are to the latter the cheaper it gets. And if you DO have a gerber/BOM, there are turnkey services that can build the boards for you outright, like PCBWay.

I've already written most of the code, and I have it wired with jumper cables.

As far as PCBs and stuff, I literally have no idea how that works. I would definitely need to pay someone to design it for me.

Drop me an email and tell me more about what you're thinking of.

I do mostly firmware but lately I've been working with someone that builds his own hardware. Maybe we can get you all in touch.