In the past i balanced my powertrains with an oscilloscope and an IMU with analog output with some success.
Since we have IMU data and exact rotor tracking, it would be neat to show the IMU data in conjunction with
the mechanical rotor position. Mechanical position is easy, since it is accumulated electrical postition times two through motor pole count.
The feature could be implemented as a detection routine with adjustable RPM. Perhaps as terminal command.
I've not thought about how expensive it is, but for moderate speeds it should be certainly possible.
Does anyone also do balancing in their projects?