You can try using MotionEyeOS. It's a purpose-built OS with a nice interface around Motion. In your case, you can set it to "Fast network camera" mode (disables motion detection) and enable the RTSP stream. One nice thing about this OS is that it's quite resilient to power going down, so it's safer to deploy in "computer-hostile" environments.
this post was submitted on 20 Jul 2023
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Turns out a reolink ip cam was cheaper and worked much better, so I ended up just doing that
After a bit more research it seems that the Pi is just a poor choice for this project. I'm already somewhat committed, so I imagine I'll just stick with my hacky Motion solution until something better comes along.
Thanks again, everyone!