Watching your videos I am chopping at the bit to get my hands on a RPi zero 2 W. They are still not available in Australia yet.
FYI you shoudl be able to fix your VLN viewer problem with
sudo -u pi vncserver -randr=1400x900
This will create a virtual display and after you type this command it will give you the IP address where it will be displayed. I have had to use this on some of my other RPi projects.
I was worried about the camera frame processing rate that you would get from a RPi zero2. I think we may need to use a very low resolution to get better frame rates.
The RPi zero 2 can be over clocked if you put some cooling on the CPU. It does use the same processor as the RPi 3B but the RAM is stacked on top of the CPU meaning it over heats easily thus the slower clock rate. I am going to follow this video in trying to push the clock speed higher by using active cooling How to Overclock a Raspberry Pi Zero 2 W - Get 30% More Performance - YouTube this is the active cooling that I brought Universal Fan Cooler Module Square Cooling Fan with Heatsink Cooler Kit Copper Aluminum Cooling Pad For Raspberry Pi 4 /3/2|Fans & Cooling| - AliExpress it has a fan and heat sink for CPU/RAM stack and a heat sink for the GPU which can also get a little over clocking. This should allow same processing speed as a RPi3 B
Also I have backed this project High Resolution Autofocus Camera Module for Raspberry Pi by Arducam — Kickstarter It has a bigger lens and a much bigger sensor so I am hoping it will be able to handle a much shorter exposure time so there isn’t as much blurring with moving objects. It is designed to be a better camera for machine vision on robots.