The mini-crab version of the robot is as good as it's going to get -- I'm going to leave it as it is for a while, to have something to show at all the conferences and fairs.
The bigger spider robot still needs work. I will probably need to shorten its coxas, as this configuration was an experiment and doesn't seem to work that great. I am happy about the longer tibias though. I will probably replace the ESP8266 Feather with a ESP32 one, for more processing power and — hopefully — smoother movement. I'm more or less happy with the PCB, so I don't think there will be more versions of it. I will however need to make some sensor shields to stack on top.
The main thing that requires work, as usual, is the documentation.
I also have plans to program the #PewPew FeatherWing board to act as a controller for this robot, but since both are still in development, it may take some time.