LinuxCNC via ethernet w5500 and esp32

Did a bit of tweaking and got this to run reliably at 40KHz on all 3 stepgens, got rid of some fuzzy issues where at higher speeds after a jog the motor/output would dither back/forth all the time, adjusted PID so it tracks under 0.1mm at 24M/M always, changed pins (as i have an ESP32 on a Arduino Uno form factor) for the stepper shield, etc.
This uses the HAL2UDP, the older version from github, the new version has something messed up with some "ready" checks, did not feel like dropping into that rabbit hole.