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have you considered using the onboard hardware decoders? seems like the perfect job. https://forum.pjrc.com/threads/58478-Teensy-4-x-H-W-Quadrature-Encoder-Library

pretty sure this is a 32 bit hw encoder? but you use the analog to know the position, counts are not for absolute positioning.... they're good for PID and moving the motor at specific velocity or acceleration.... you can convert it to move X distance but from what reference point will always be...