I don’t do live performances often, nor do I have experience with modular, but I recently started using a MOTU audio interface (Ultralite MK5) and got that “liveness” your talking about. I really noticed it on my Iridium and PRO3.

When I ran that same hardware direct to my monitors or headphones, I was always thinking why does this sound so “live” and when I run it through my digital setup it sounded a bit “sterile”. The MOTU fixed this. I use 48Khz, and run on an M1 Mac. I read many articles on sample rate, as I thought that was the cause, and learned that 48Khz is just fine.

The MOTU 828 or Ultralite (if you can find one) might be worth a look. Ideally if you can get it from a retailer with a return policy, you can try it in your setup to ensure it’s doing what you want.