If I need to change direction maybe I can place an output module with some gears or levers to amplify the movement of last gear (no need as much as 80:1 again) and detect that final tiny backlash.
Or ensure the contacts with springs??
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Iodine + Alcohol + graphite to get aglutinant for graphite dust
Let this dry
This aglutinant is serving to me to make some welds where tin can't. It stays very hard and shiny after rubbing with tissue.