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rio can now can

odrive(modded) via can-bus in an icebreaker board with rio:

You won't need to develop a driver, you just need to write an xml file.
the wiring is substantially reduced using Ethercat drives over mesa.
Do you really need an encoder? The only purpose I can see is rigid tapping but thread milling is more efficient and it does not require it.

Everything about Ethercat is more expensive but it is the emerging standard. It does add a bit of complexity to the config. The bit that is not really worked out is the internal drive homing but using Linuxcnc homing is just as simple as mesa. I've had good luck finding reasonably priced Beckhof modules on ebay (including encoders) but some are outrageously priced, more expensive than new modules.

Ethercat with rs485 controlled VFD is the simplest way to run your spindle but there is now a linuxcnc driver for Omron mx2 VFD's .