@tcpl have you seen the work by @JoergS5 on this?
@dc42 for multiaxis rotary/linear systems like this it may be worth using a naming convention that fits with the stacked linear & rotary build up, e.g. as Joerg uses in his doicumentation:
https://docs.duet3d.com/en/User_manual/Machine_configuration/Configuring_RepRapFirmware_for_a_Robot_printer
e.g.
CoreXYACbed : CoreXY ganry, AC both connected to the bed, A nearest to workpiece
More here:
https://docs.duet3d.com/User_manual/Machine_configuration/robot_5_axis_CNC