Anyone figured out how to get Trinamic's TMC5160 drivers working with LinuxCNC?

One question. 5160 connected to rpi spi for its configuration only. Which will done one startup. So even if its not in real time. Since configuration only needed one time on startup. Does it matter that communication is slow as you said?
I am not a developer so I am asking.

You are right, it wouldn't be a problem for configuration only. But I'm using the module to use the TMC5160 without step/dir signals, so I need a fast communication.

I received my RPi5 this week-end and had to change some parts of my code to make it work. Also, with the RPi4, I could control the CS pin "outside" the SPI routine, and use how many pins I wanted to. With the RPi5, this does not appear to be possible. So I will need to make some more changes in the code. I will probably keep the freedom of CS pin choice for RPi4 and use the dedicated CS pins per channel on RPi5.

Are you planning to add support for daisy chaining of drivers?

Yes. On the video I posted all the 4 drivers are daisy chained. My plan is to allow to declare chains when loading the module, so you can have 2 chains of 2 daisy chained drivers, for example, or 3 "chains" of 1 driver, or what ever you want as long as you stay below the max allowed drivers (6 for now, but easy to change in the code). That's true for RPi 4, where the CS pin is managed as a GPIO pin. For the RPi 5, the max number of chains will be the max number of CS pin of the selected SPI channel (2 for SPI0, 3 for SPI1).