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Hi. I have been using ar_pose for some time, but I am afraid I cannot answer exactly your questions, but maybe give some insights.

1. I think there is no limit (but I may be wrong).
2. Do not know, never measured it.
3. It depends on your camera resolution and its distance to the markers, you can make your markers very small as long as your camera can see their details.
4. Same as 2.
5. That depends on your computer power and the number of markers you are detecting.

I am using markers as an easy way to track people. I created big hats (markers are 25x25 cm) and the markers can get very far, and still be detected. My ar_pose frame rate is pretty much limited by the camera frame rate. I think your goal is doable, you just need to find a proper configuration of markers size/camera resolution/camera distance.

Hope this helps.