After facing a few setbacks related to proper dimensioning in 3d printed components, I finally managed to assemble the alternative leg design today and perform a simple test using a servo tester, to verify motion behavior. The video is below:
This initial test shows satisfactory motion, although the cheap servos have a different PWM range that the servo tester supports (!) so the full range of motion can't be realized with this setup. I'll be conducting proper testing in the days to come, so stay tuned.