I finally got sick of battling with the XL-320, OpenCM and Pixl boards. It was either not working under Linux or not working with more than 6 servos.
So, I looked up for something else and after a while, my choice stopped on the LewanSoul servos. So far, they meet my expectations. I have 1 leg done (minus the foot, which requires a redesign) and I'm waiting for the next batch of servos to come at my door.
Stay tuned, as I will show up where I'm at when the second leg (and hips) is done!