I have 16 pitch rack/pinion on my x-axis. With a rack/pinion system you will need to reduce the output motor RPM, whether it is done by timing belts or an expensive zero backlash gearbox. The reduction will give you the torque needed to move things around. You are contradicting yourself when you say you want a direct drive and then later on say wanting the motor to make several turns.
It is just the nature of a rack system needing to have some kind of reduction. I'm not saying that it can't be done but on the size that you need, 4'x6'. I can see if you were building a table 4"x6", then you could get away with a 64 pitch rack or smaller.
If it's not nailed down, it's mine.
If I can pry it loose, it's not nailed down.