For those tracking the forum, there ha been quite a bit of discussion about low backlash gearing. From a mechanical perspective the joint motor/gear/encoder combo is the one of the toughest problems to solve in non-cartesian robots, especially if one does not want to spend a lot of money.
Recommended by @keithviolette, the Hypocycloidal gear caught my attention because it is low backlash and can be made on a CNC out of Delrin. I used the script provided by Jeff Lait to create a .dxf file which I then fed into Autodesk Fusion 360. I then revived my 3D Printer which has long been not working and printed out the parts. It works surprisingly well.
I will make the model available to anybody that wants it, just direct message me and I will share it with you or just download the model from Autodesk a360.