I've been doing some searches and can't seem to find an answer..

General CNC CNC Routers
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I’ve been doing some searches and can’t seem to find an answer…
Has anyone ever written a GRBL type (type being an important word here) firmware for the Teensy?

In other words, you connect to the teensy and send Gcode commands through Universal G-code Sender or Linuxcnc or Laserweb or similar. But instead of being on the usual Arduino (or clone) it runs on the fast and cheap Teensy.

Seems like Smoothieware should even be within reach, if someone did some light porting work on the code.
https://www.pjrc.com/store/teensy32.html

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It’s ARM. A good chunk, but not all, of Smoothie is written in Mbed which abstracts the code such that you can run it on most any arm device not limited to a specific manufacturer or series. Now the smoothie2 code is nowhere near done from what I can tell, but their github would be a good place to start.

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I was able to find someone working on a port of Marlin to Teensy 3.1, from April 2015.

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That was based on Paul Soffregens (Mr Teensy) fork of Marlin for the Teensy.