Idler wheels are not directly coupled to the motor and do allow a minute amount of slippage where as rim drive is directly coupled to the motor. I agree that the success of this application will come down to just how well the control loop is implemented.
The rumble issue as I understand it has to do with wheels being out of round, cheap cast-metal platters, and/or motor vibrations through the plinth. Anyway, I don't think it is a given that an idler or rim-drive is going to suffer rumble just because it is an idler or rim-drive.
I haven't heard the Teres rim-drive but I did have the opportunity to hear the direct-drive prototype. Even though it sounds cliche I'm going to say it anyway. It really was like lifting another veil and getting closer to the music on the recording. Ok, maybe not new technology in general. However, the direct-drive was very impressive and showed tremendous potential, but not cheap. So, this is perhaps a way to allow those who can't afford a Certus to still benefit from an advancement.
I really can't see Chris putting out something that he is not happy with and he seems to have pretty high standards. I remain curiously open-minded. Again, we'll see what the reports are when the "monkeys" get to start banging it around.