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Early qemu versions had problems with the NeXTstep PS/2 mouse drivers. I created some patches for ancient qemu versions (0.8 and 0.9 in 2005...) to emulate a Microsoft bus mouse, which worked well with NeXTstep (https://github.com/michaelengel/qemuNextSTEPpatches).
I haven't tried running NeXTstep in qemu recently, but I suspect it might simply work today.
The Previous emulator for "real" black 68k-based hardware that is mentioned briefly in the article is actually much more fun and also allows you to run 68k-only software such as Lotus Improv - http://previous.unixdude.net
The DoomEd source code seems to be available at https://github.com/DrinkyBird/DoomEd and it's Objective C code, so I would expect this to compile on NeXTstep/PA-RISC (but I haven't tried).
If you don't have a compiler set up on the PA-RISC machine, you should be able to cross-compile or generate a fat binary from ProjectBuilder on NeXTstep/intel.
> Specifically thinking having NS ported to an off the shelf Raspberry Pi.
Not original NS, but GNUstep runs on the Raspi.
Install scripts here: https://github.com/plaurent/gnustep-build
> If NS was usable (I won't say it was fast,
NS was definitely more than "usable", it seemed very snappy at the time.
GNUstep runs very nicely on the Raspi.