Have you seen the Facebook group that does machine embroidery using vintage machines? It is beautiful. I tried it and my first attempt looked great. No fancy machine needed at all. I have been embroidering up a storm and it hasn't cost me anything but thread and stabilizer. I use an old metal embroidery hoop. The machine I use is an old Singer 99.
https://www.facebook.com/groups/1421958014741838/
I was about to buy a very expensive embroidery machine until I tried it. It's much more fun then watching a machine do the work for me. I feel like I am the creator, not the machine.