How do i set up Marlin for a custom SCARA robot?

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The robot that i want to configure it this one: https://www.thingiverse.com/thing:4010129
But in scara orientation, where the linear axis is vertical and both arms move horizontally.

My questions are as follows:

Is it possible to:

-configure a robot other than MPScara or Morgan-Scara with marlins default config files?
-use a scara with non equal arm lengths?
-having both arm segments home in a position where they are parallel/180° towards each other?
-set up everything in the config, scara.h and scara.cpp files without the need for Gcode commands?

And are all settings related to scara dimensions and kinematics contained only in scara.cpp?

I would be glad if someone can help me.