No I don’t have a RPi zero 2 w yet but am waiting for 1.
There shouldn’t be a problem of fitting the python DXL-SDK in to RAM as it is simply some code to send packets of data out the UART. I do way more complex things than that on micro controllers that usually have less than 1MB RAM. For example the CM-550 that I am thinking of replacing with the RPi zero 2 W only has 1MB RAM.
I would run the IDE on my computer then drop the python script to the RPi via WINSCP or filezilla, you can then either run the script via VLC in desktop mode or if you want to save RAM run it a PyTTY terminal. This is how the CM-550 works with the IDE on your PC then just the python script being down loaded on the CM-550.
The CM-550 that I am looking at replacing doesn’t have a desktop mode, it doesn’t have a terminal mode either like other ports of micropython. On the CM-550 I can’t access the file system and many parts of python has been removed. The RPi zero 2 W over comes many of the limitations I am encountering with the CM-550. The RPi zero 2 W just needs some extra circuits like breaking out some DXL connectors with a UART pin and battery volages and a buck converter to convert battery voltage down to 5v to run the RPi.