You are right, you don't need to grab the data every physics frame, but at least every render frame, where the CPU is still the man in the middle.
Thank you, that's a relief. But I'm still not sure on how I'd integrate my own custom code into the PhysX pipeline.
I think now that I have a pointer to work with I can slowly start to familiarize myself with PhysX's interface and eventually make custom code for it, but do you or does anyone else have any guidance in this? Thanks again.