Print the X articulation with support. The others should be oriented so that flat side is down and they should not need support. This should fit snugly into the same slot that the SimpliSafe original stand fits in.

Assemble with two M4x20 screws and an M4 nut. Tighten and should move with some resistance. No need to loosen and re-tighten when positioning camera.

The wall plate can be affixed to the wall in two ways, it is the same size as two small command strips or it can be installed with the four screw holes and anchors. I am using the command strips and it seems to be more than sufficient, press hard and hold for 30 seconds.