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i was able to bench test the image with the ethercat master installed from the repositories and it works. The only thing i found peculiar was that when jogging with the keyboard i could notice some random jitter in the drive. This did not happen with the amd64 cpu i was using before. I suspect this could just be an issue with the keyboard input on the pi though as that jitter is not present with commands from the MDI

See how you go with the position.

Regards shared himing switches, there is a pin joint.n.is_homing ot similar (check man motion).
If you and2 that with your physical limit switch and use the output to your homing input, the non homing joint will ignore the switch input.