From what I can see, different modes can live side by side in the cia402 component without problem.
They already do today. Different pins, yes. For example PV needs two accelerations and a speed pin.
Homing, probing etc their own set of pins. And possibly some small piece of logic, like "at-speed" indication.
And then handle the switching of modes with the position feedback, a bit optimistic this can be done in a general way.
