moveit_servo with UR10e on Humble?

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Planning works right out of the box, so I feel like servoing should also work straight out of the box but that I'm missing something silly...

Using the ROS2 UR driver + simulation I launch:

ros2 run ur_robot_driver start_ursim.sh -m ur10e
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=false initial_joint_controller:=scaled_joint_trajectory_controller
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10e launch_rviz:=true

After launching with the scaled_joint_trajectory_controller I switch to the forward_position_controller and get a success message from ur_ros2_control_node

ros2 control switch_controllers --deactivate scaled_joint_trajectory_controller
ros2 control switch_controllers --activate forward_position_controller

Looking at the tutorials, I thought it would only be a matter of triggering /servo_node/start_servo and publishing to /servo_node/delta_twist_cmds.

I publish a TwistStamped msg at 100 Hz and get output on the /forward_position_controller/command topic, but no movement of the arm. /servo_node/status reports 0.

What steps am I missing to use moveit_servo with the UR driver?