got the Teensy interface up and running. i'm using direct IO port access on the Teensy 4.1. take a look at core_pins.h in the Teensy header files. basically you can read from GPIOx_PSR and write to GPIOx_DR.
i also had to add a short delay to create some setup time for the FPGA--the Teensy 4.1 is a hair too fast lol
bidirectional registers now work! i can write a command from the PC to the Teensy, and i can write a response from the Teensy and read it from the PC. there are also status flags showing when new data is available. it may not seem like much, but this is huge progress.