it really just takes any art program willing to export transparent layers and a decent editing program. I think this could easily be done in capcut or video star but I use after effects to rig all my components and animate it. You just make the first and last keyframe the exact same with linear motion and add a keyframe in the middle for the second motion in a tween, this can be done for the scaling, sizing, rotation, etc. I export them as a video actually and then convert them to gifs.