Closed Loop DC Motor Remora EC500

It's been a while since I posted anything here, but it's never too late if you have the desire.
I've continued moving forward with my dual-head mitre saw project. I've developed a PwmGen module for Remora. At least it drives the motor, haha. Up to four modules could be instantiated, for which the four QDCs can also be used. I want this to develop a closed-loop system. Once again, I'm leaving the links to my GitHub in case anyone wants to take a look.
Scott, I know your time is short and tight, more or less like mine, haha. I've sent you a pull request on GitHub for this. When you can, take a look; everything can be improved.
I have a video of my tests online. I use a user interface I designed for a dual-head mitre saw. I welcome criticism. Although it's not very visible, I'll leave the link. It was only an open-loop test, but I was able to verify the PwmGen module works.
*****Now the questions********
I've read quite a bit about DC motor control here on the forum. For this case, I started using an old servo amplifier that the machine itself had as standard. This was controlled with a +/- 10V analog signal, which was quite a challenge to get working. The servo amplifier controlled a speed loop with a tachometer that the motor has, and the encoder is on the side of the moving head, that is, on the load, not on the motor. By the way, thanks to everyone who gave me instructions on the table cards; PCW, Tommylight, etc.

I want to skip the servo amplifier and use Remora with a simple H-bridge and the encoder. This is where I run into a problem. I need to use a PID loop in speed mode, but I don't have an encoder on the motor; I have it on the load. I'm not an expert in motor control loops, although I understand something, but I'm not sure if I can implement a closed loop with this configuration. Therefore, would it be mandatory to attach an encoder to the motor?

Greetings to all, thanks in advance.