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The boards looks nice, is it a hobby or are you going to sell them?

I guess you already know this but just in case, here is how you create individual pins for i/o

in many cases autotune broke parameterisation, for example Siemens s120 with their servos working like a charm, but if You use third party supplier of servos, just be sure You are using parameters delivered by Your supplier of servo, if supplier have not parameters for Your driver, don't take it, auto tune mostly broke settings, same manufacturer of drive and servo have to work, but i think it can be price reason (in comparison to Panasonic MINAS A6B for example)

It wont work,(the simple explanation since you don't understand\haven't read the links) the RPi SOC doesn't do the memory\port mapping the parallel ports require.

When searching about this a thread I started came up, regarding SPI, mentioned parallel ports don't work with the RPi.

forum.linuxcnc.org/18-computer/51748-eoi...rpi5?start=10#303031

Rather than banging your head against a wall look at the Linuxcnc RIO project. Or get a Mesa 7i90HD, it's really quite cheap if you are based in the USA.
store.mesanet.com/index.php?route=produc...oduct&product_id=291