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I don't have all the answers but to get you going here is something.

Afaik a gantry system is setup using trivkins kinematics - that you have - and specify coordinates=XXYZ (if you have two servos in X).
You will get four joints, joint_0 and joint_1 is X, joint_2 is Y, joint_3 is Z.
Consequently, a joint represents a servo.
Set up the system like any gantry system.
Homing - see the linuxcnc homing doc.
Looking at the hal and ini files you seem to be almost there. Just change the trivkins line in the ini file and see if it becomes better.
 

This is for v2.10. My apologies for the ambiguity. 
Thank you

Wow your numbers are impressive.
I have been under tuning my machines. The acceleration is around 0.1-0.2G. Since I only mill steel so no need for high speed and I can already feel my machine shake with that acceleration. I think it need jerk limit trajectory planner to unlock its full potential