It may be 2am right now, but I'm still riding on this gd0095 motivation wave while I've still got it. I just found this video:

I was like "Of course! I remember now!" because when I was idly thinking about "If I had to make a humanoid robot, what would I do?", I came to the conclusion of doing this method for many joints.

Using string/thread could really help out with moving the center of mass away from the right end of the Tile arm and allow me to move with lower torque requirements, higher accelerations and lower unwanted displacements. Because I like stuff that's exotic, I'm thinking of using basalt thread for this task, though braided kevlar rope would probably do the job fine too.

The only issue is that the bowdens now are under the same issue as the main thing I was worried about: Wire Management. Wait. If I mount all the motors to Axis1, I think it will actually be fine.