well I have a reliable workaround, but it uses the greaseweazle rather than zoomfloppy
so you'd need a greaseweazle (v4 or newer) and you'll need a PC 720k floppy drive and cable
the command I use is:
gw read --tracks "c=0-81:h=1" --retries 10 --revs 5 --format commodore.1581 3disk200.d81
the retries and revs give it the best possible chance to read data from the disk
the "h=1" tells it to only read head 1, as it's a 720k disk not a 1.44MB
if you try it without this, image creation will fail.
this seems to be just how greaseweazle does it.
I'll give your cbmcopy commands a try as well,
I'm also going to try imgcopy with a 1571 drive
I used to use imgcopy with 1541, 1571 and 1581 in the past, long ago, but don't know why 1541 and 1581 are failing now.
I'm curious to see what happens whey I try with a 1571 drive these days
would be nice to figure out what's going on with it
and yeah, 1581CP54 is highly problematic, it's old DOS, so virtualbox, dosbox, QEMU, PC86, etc
but then you have to configure all the USB passthrough stuff, which is a pain
or an old DOS PC, which is equally problematic.