I found so servos on stepper onlines web site that support pulse control so they are hypothetically a drop in for the current steppers and drivers. They are fully closed loop so no encoders would be connected to the ar4 software. But they do know were they are and can be run in absolute position. https://www.omc-stepperonline.com/t6-series-1000w-ac-servo-motor-kit-3000rpm-3-18nm-23-bit-encoder-ip67-t6-rs1000h2a1-m23
interesting, have you pursued this any further?
would you be able to directly swap the drivers?
