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I have managed to take PLATOTerm, and crunch it to fit into a 16K cartridge, which means it will work quite happily on just about any Atari setup. It is set up as a "disk boot" cartridge, so if you have a DOS disk with your R: handler, it will happily boot and use it. You can also choose to not boot a disk at all, and use the built in booting functionality on any Atari 850 or P:R: connection device, to load the needed handler.

The primary differences to the disk version are that it is locked at 1200 baud, and that there is no support for any saving of preferences, which is not needed, because the desired touch driver is statically linked into the cartridge binary.

You can find both source and binaries of the cartridge version here:
https://github.com/tschak909/platoterm64/releases/tag/PLATOTERM-ATARI-LITE-1.1

Also, big thanks to Albert Yarusso of AtariAge for providing a cartridge board and EPROMs for development testing!