You were probably running base period at 10kHz, not servo period, although it might be, there is no need for it.
I have big industrial machines running 1kHz servo periods with Mesa hardware, never had a single issue in probably more than 10 or 15 years (getting old...).
A single Mesa 5i25 (PCI) or 6i25 (PCI-E) or 7i92T (ETH) can replace both prallel ports, and can do steps at MHz rates on any of 34 pins, while parallel is limited to 5-20KHz.
A Mesa 7i96S would be a better choice, much simpler wiring, and if you do need more I/O, you can use one of the old BOB with it, just needs an IDC26-DB25 adapter cable.
As for the modbus stuff, they are simpler now, but do require some editing, although it might just work depending on what was involved in it, probably spindle pins will need adding a spindle.0. anyway as later versions have support for multiple spindles.