More thoughts:
Use a pin router.
It has a router up above, and a pin under the fixture that holds the work.
The fixture has a groove on it's underside so the pin will track in the slot and guide the fixture.
On light cuts, the depth of cut can be adjusted by using a tapered pin and moving up or down a touch (and to adjust for bit wear)
And, yes, you can buy table top CNC's but they are not too tight and stiff. Having set up, run, repaired, and built any CNC's in production environments, I'm a purist. sorry.
:-)
You might look for a used CNC knee mill and use it instead.
Oh! another way to go is the Thomson Mill-Drill table. I had one for years and never used it, but it would be perfect for this application. There's a couple for outrageous amounts on ebay right now
How funny! I just searched Youtube for videos of the Mill-Drill and found when selling mine! (I had forgotten entirely that I had made that video)

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