Cheap could be good for gang testing and gang programming of flash
MCUs.  Does your imperfect implementation of the JTAG protocol
allow for a daisy chain of MCUs with a termination resistors at the
end to test one of them at a time?
It should work, but I cannot ensure it. My implementation is not correct timing-wise.

I am thinking of running UrJTAG from a single board computer like
PocketBeagle plus a display, or maybe just old laptops
to do production batch testing.  Is there a nice low cost setup that
is recommended?
If you are running it on a single board computer (Raspberry Pi, Chip, BeagleBone, etc.), chances are that you have GPIOs readily available. I know that both UrJTAG and OpenOCD provide support for GPIO-based JTAG interfaces, but it might be specific to Raspberry Pi. If it is the case, then a little bit of UrJTAG code tweaking should bring you support on your favorite SBC.

For old laptops, if you have a parallel port (the pink one, that used to be called the "printer port"), then you can build a Wiggler adapter. It is supported by almost any JTAG

Can UrJTAG be made to run on an android phone?
Afaik no one has tested UrJTAG on an Android phone. I'm not sure if libusb works well with Android's existing USB stack.

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