I have followed this thread from the start, and I think that if the firmware can't handle the math it would not be good for future development as adapting the slicer will be harder than the firmware.
I guess Having the same articulation on all the arms could make it simplier for multi extruders (and for one too)
I guess Having the same articulation on all the arms could make it simplier for multi extruders (and for one too)