Custom Module, Extending WP with a Plugin?

I think you could do that by creating a plugin that you can integrate into a page.

E.g. mingleforum uses a shortcode, which you can use to create the forums. You create a page, with the URL you want, e.g. “CUSTOMAPP” page with URL “example.com/customapp”, and then within that page use the shortcode to instantiate your app.

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