I am looking for exactly the same thing. The search is not quite over. However I have got a few leads. Not claiming that it is exactly what you are looking for. 1) There is a FOC library for Arduino, which does something very similar. Not yet researched about the hardware it requires, but surely it will be cheaper than ODrive. 2) The ESCs for multirotor with newer firmwares and communication protocols provide a lot of functionality (backdrivability, FOC, current limiting). As far as I remember, there is a possibility of controlling current (torque) on the go with new firmware. Also they are capable of handling a lot of current (cooling required). A library for Arduino should also be available for the same.

That's all I've got. Let me know if you've got any other leads or ideas and also your projects using these.