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I made a slight mod to the pen-arm-pivot just to add some more material around the servo attach points... I did this after splitting the tops off the existing piece I printed. Once I assemble it and confirm it's good I'll upload for you. No point adding that as a derivative I don't think as it's a pretty minor mod.

Also it seems like you don't actually want the back plate in the centre of the structure. Your pics seem to show it closer to the end plate with the motor attached, and this is how I think I'll need to place mine as well from eye-balling it.