Are you familiar with @SeedHammer? Their original product is essentially a slightly modified dot peen marking machine (often used for engraving VIN plates, etc.) controlled by a @SeedSigner device with custom firmware.

The code is open source and includes the ability to generate the QR code from the seed words, and keyboard masking during input based on BIP-39 words to speed things up. It also includes the ability to engrave descriptors for multi-sig wallets and some other cool stuff, definitely worth a look.

If you do end up playing with the code note that the v1.3.1 tag appears to be the last stable version for the original hardware, with most of the more recent work targeting their new SH2 device.