"Some workarounds" includes devices that emulate SLC/PLC data tables with A-B protocols and addressing, as well as devices that accept reads and writes of the same CIP Assembly objects as would be used by a cyclic I/O connection.
An example of PLC/SLC emulation are A-B VFDs like the PowerFlex 70/700.
They emulate an SLC Integer data table and you can read and write to specific addresses (I think they use data tables N41 and N42 but I'd have to look it up) to send start/stop and references and read and write parameters.
You also have to write to a Timeout register with a number of milliseconds. The drive will consider the lack of an Output command message for more than that period to be a loss of network-based control and will take a comms fault action.
The Turck would be handled with CIP Generic messages to Get Assembly and Set Assembly. Those Assemblies are what you see in the Generic Module configuration examples in the quick start document: Input Assembly instance 103, Output Assembly instance 104, Configuration Assembly instance 106.
I can't see where the timeout would be set if you used that with the Turck device. Maybe it's somewhere in the Configuration Assembly, or maybe it's another object, or maybe it's a default. When there's a true cyclic I/O connection, devices usually set their timeout to 4x the Requested Packet Interval (RPI).
Some devices are designed to accept unscheduled, non-cyclic, un-connected messages to read and write those Assemblies. Some require an actual scheduled, cyclic, connected configuration with a ControlLogix or equivalent controller.