Non-linear Z-axis (e.g. scissor lift mechanism)

Greetings to the community!

I am now looking at scissor lift mechanism for Z-axis for a printer build, but I am a bit concerned about the software support for it. I have found a couple of such printer designs, and I believe that they all account for non-linearity of the Z-axis with customized firmware.

Does Klipper support non-linear axis? If not, what would it take to add the support? I have not found any threads discussing this topic, so I thought I could start the discussion here.