I don't want to say no, however it seems very hard to do. You get feedback about motor position via an encoder, which is usually located on the motors axis and not the output element. Since the motor axis spins a lot more, you get more resolution. Backlash happens on the output, so you could add a second encoder there (but now you've got more complexity + cost). An oldschool CNC solution is to add brakes to lock an axis out, but this makes your system less flexible and doesn't prevent backlash during motion. A more modern solution might be to factor backlash in to your motion software so that you tell the kinematic solver what compliance is acceptable in some direction.

> Let's say two cheaper cycloidal geared motors running in opposition with a load cell between them to maintain the materially compatible force.

This might work, but now you have twice the amount of motors.