@o_lampe I'm not sure where you are up to on your project, but a couple of notes might help from my Polargraph.
although I only have ABCD axes in the kinematic model, I have to set motor currents for XYZ??
In the config.g you posted earlier (which you may already have changed), you have defined the ABCD axes in M584. However, Hangprinter maps the ABCD drives to XYZU. Because ABCD are really anchor points, rather than motor axes. All speeds, accelerations, motor currents etc are in terms of XYZU. See https://docs.duet3d.com/User_manual/Machine_configuration/Configuration_Hangprinter#select-hangprinter-kinematics
I can't move past X0. Positive X-moves are straight, but lower than X0, it starts to make a curve
I had this too. It was caused by the motor assignments, and I actually had the motors mapped incorrectly. Because you only want to use the B and C anchor points, you only use the Y and Z motor assignments. For a long time I was using X and Y! Made particularly confusing for me, because I have the Z motor driver for the Y axis, and E1 motor driver for Z axis. If only we had just called them driver 0 to 4! See the config.g in the Polargraph thread: https://forum.duet3d.com/topic/35248/duet-polargraph
I think you resolved the M666 problems, and I think mine are set similar to yours. As far as I can tell, it's mostly to do with gearing and spool wind up, so largely irrelevant for our application, just have to set sensible numbers.
Ian