I have one of the type in the first link in the OP, I chose it for the decent through capacity which you don't get with harmonic drive versions, it worked well enough as standard but I added a link bar and bearings outboard at the back behind the belt to take bending load off the stepper shaft and was then able to add a belt tensioning pulley bearing.
A few hours work and a few quid in bearings yielded something which is up to 4-axis machining in Ally and Steel using tooling up to 12mm and 7000rpm.

I had a good indexing head but I believe that a converted/ home brew worm/wheel job is more of a bodge than pulleys, belts & bearings because long term under CNC use gears and plain bearings will require more maintenance, more expensive maintenance and more complex maintenance.

- Nick