Hi Nathan,
A bit late answer due to vacation but you can also try to use my mvSLOUCH 
package (on CRAN). While it (still) does not allow for explicit fossil species 
you can a very short tip branch at the place where the fossil should be. For 
missing observations you write NAs, the package has no problem with handling 
missing data on some variables  in  a species. It also allows for 
non-ultrametric trees.

Hope this will be useful if you are still working on this!

Best wishes
Krzysztof

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