Yes, smd components on flex is not common in a google search but it is done. (Think flexible LED strips, although these are typically flex only during install vs active flex) In fact I did this in a similar project. In my application, the amount of flex when is use was very minimal, and its geometry is such that the flexing happens where there are no components.
Even if I only had smd parts on the top of rigid pcb, it would still seem a challenge to implement this using Kicad. Thanks!
This was my initial thought and probably leaning towards. Here’s a very informative thread on mezzanine (daughter board) implementation that has some useful ideas but still would not work 100% for a rigid flex.