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Yep to do it in a system-friendly way you'd need to at least write your own step-to-track-255 and track-writing code to tell the unit to "listen" on a different track number. Then you could maybe read/write with mfm.device to avoid having to MFM-encode/decode yourself. But since you already wrote code to issue the initial track-change command you wouldn't gain much.
If some future firmware has an alternate way to access the unit initially, you could maybe avoid writing your own low-level code. For example, if the firmware were to count outward step pulses when at track 0, stepping to track -123 or whatever could trigger it, but the Amiga would think the heads are at track 0 so you could read/write using mfm.device. But that technique might only be applicable to the Amiga, not platforms with normal floppy controllers (ST, CPC, etc.). One advantage of it though, would be that detection code wouldn't cause any clicking/noise, since almost all real floppy drives don't move the heads when told to step outwards at track 0.
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