This is just CADT. If you had paid closer attention to what people in the industry already knew (that professional servos solve the feedback problem and they are worth the cost because experts built quality and knowledge into them so they work on production lines) before starting, you could have avoided wasting lots of people's time and money.
I had a lot of people tell me steppers were "precise", and I had to do a ton of engineering just to learn how untrue that statement is.