RE: Issue #2. Just because a 9v battery moves the motor, does not mean that it's moving it to the proper RPM. Yes, 20V motor.
Pull all the optos (under the mushrooms targets too) and test them all.
You have the whole thing pulled apart...now is the time.
Also, run through your power driver board test points. Low voltage will cause your optos to act weird too.
Sounds like you've got most lined up already.
Best of luck!
I love my DW.
faz