In case it helps, I got a floor texture working with reasonable performance on hardware as part of the MakeCode Kart project. @Kiwiphoenix364 has extended this to work with tilemaps, see for example MakeCode Kart - #271 by Kiwiphoenix364 .
It may need a two-step render pass to integrate this since efficient rendering of the floor texture required drawing horizontal lines (with constant Z distance), while I think the raycasting renderer prefers drawing vertical columns.