Would it be fair to rephrase what you wrote like this? "unless you know all about feedback, encoders, and you're capable of designing your own custom PWM drive circuit, then you should probably not try this"
I barely know a PWM from a BLT, I mean I know what the letters stand for but I'd have to take a few college courses before I'd be able to do what you did, and even then it'd be designed by a beginner, predictably sub-optimal. Yet I have easily converted four of my machines to 3-phase with VFD. Just a few tricks you need to learn, and youtube or helpful people here can quickly explain it all.
I know about the torque issues when turning the VFD way down, so I change the belts for anything that needs it, but for most tasks I can just dial in the speed I want, if I leave the belts in a middle-ish speed position. Or put another way, belt changing happens a lot less often, but it'll never go away completely. Still very much worth it, a big quality-of-life improvement
If you can afford it, it helps to put a more powerful motor on, so even when torque drops off you still have enough in reserve.
This is the experience of a decidedly non-expert hobbyist, so take it with the appropriate amount of salt.