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The good news is switching to X11 is trivial.

You can check the session type:    wayland

Launch Rasp-config command line tool in a terminal:
Arrow down to "Advanced Options", and enter.
Arrow down to "Wayland                 Switch between X and Wayland backends", and enter.
If not on the line that says "W1 X11     Openbox window manager with X11 backend", arrow to it and enter.
The popup should say "Openbox on X11 is active" and have "Ok" highlighted. Enter.
It will return to the main screen. Use left-righ arrows to select "Finish". Enter.
Popup asks if you would like to reboot now, with "Yes" highlighted. Enter.

After reboot:    x11

Now here's the interesting apples to apples comparison. The only difference between these two pre-jitter-optimization baseline latency runs is Wayland vs X11.

Wayland:
 

X11:
 

 

Based on the given information about the requirements and constraints I cannot advise anything and cannot tell wether it will be successful, clever or foolish.

My search terms would be: (without deeper knowlede)

lookup table
kinematics

Digging through the hal component list and look if I could convert the linear movement to an angle in the hal.
linuxcnc.org/docs/stable/html/hal/components.html

Greetings.

high resolution rotary encoders tend to be more expensive than a linear scale, so for a sine bar like arrangement I was thinking if a linear to angle system would benefit from. High torque, and high accuracy. At the cost of a very limited angular range.