sorry for having disappeared a bit, but I’m rather busy lately.
The system you describe looks really interesting, but I’m not sure if it is less complex than what I have.
Once I got rid of the idea to use brushless motors, the control has become really simple, and there is no PID involved. The reason is that the input of the system (using the standard HID interface) is just a relative 0-to-max setting, there is no actual force required, therefore there is nothing that you can use as feedback to implement a PID.
What I mean is that the simulator indicates to created a spring effect with a strength of 100 (for example), then there is no point in trying to achieve a specific torque level on the yoke that would require feedback from the control loop.
About the overall feel, it does feel different from a real plane, yes. Of course there are limitations on the drive, but I am not sure how much it depends on the airplane model and simulator (again, my approach has been to build a plain HID device, I don’t know how to use the software to interface something to MSFS and create my own effects and settings, so the limitation might be there) than on the actual controls. The C152 on the simulator generally feels a lot easier to fly than a real C152.
Said that, at @JCSLOVE said, there is no going back. Once you have tried it, the feeling you get makes impossible to go back to a plain, non feedback controller.