Dynamixel AX-12A compatibility

Thank you @jremington
For "half duplex serial" to work, software serial needs to function on the R4 correct?

I can find threads talking about software serial NOT working and fixes which I believe are based on @KurtE's hard work, but it doesn't look like they have been implemented by Arduino yet...or is software serial working reliably on the R4?

I don't mind trying to implement fixes manually, but it isn't something I am well familiar with.

Then should I make my own fork of Single Wire Serial for the R4 WiFi?

Just trying to make sure I understand the proper steps in order.

Thanks