In the spirit of the C++ bindings released last summer (and using a lot of the same code), there is now an official Arduino library to command and monitor any moteus controller! To get started, just search for "moteus" in the Arduino library manager, install it, and look through one of the examples.
The biggest caveat is that a desktop CAN-FD adapter is still required to calibrate the moteus initially. Thus you can't get away with only an Arduino, but it is a solution for deployment.
Check out the video showing it in operation here: