I'd be interested in seeing that from wk057, he generally has pretty insightful commentary on the setups. Perhaps indeed newer inverters can accept such, but if you say the FSD computer sends it's "desired position and how it would like to get there", that would imply the inverter has some knowledge of things like current location, car orientation, steering angles, etc... things I'd expect FSD to know rather than the inverter... and I doubt the inverter is being told about them real time.
I could see the inverter being given things like time/distance/acceleration maximums (i.e. g-force limits), and it then calculating the torque commands necessary to do that...