Great work! Love the form factor. Bearings on the cams are a must IMO so I’m glad to see you have them.
Definitely work on making the cam a counterweight to avoid vibration. Here’s an example that I worked on a few years ago: pic: CGX-115, cam-counterweighted cycloidal drive
If you want better efficiency, you will need bearings instead of “pins” milled into the housing. This may increase backdriveability though. Make sure you anodize the housing or just press steel pins in though, as it will gall otherwise.