There's ISA to USB devices for under $40 so you can hook the hardware up to a modern machine
Then I'm sure you can use one of the many emulator solutions on the market to bridge the rest and if none are suitable it can't be that hard, the data is making it to the machine...
I'll happily make it happen if you need to hack something like qemu, sounds like fun.
I believe a regular PCI or even ISA parallel port can be below 1us. Those are "real" buses, unlike USB and PCIe which are more similar to packet-switched networks.
Then I'm sure you can use one of the many emulator solutions on the market to bridge the rest and if none are suitable it can't be that hard, the data is making it to the machine...
I'll happily make it happen if you need to hack something like qemu, sounds like fun.