You might have to lose some resolution though, I think CDXL only supports up to 3/4 screen resolution (although that may well have been a limit to what the hardware could play back, rather than the format).
I believe the limitations are due to the CDTV (and later CD32) drives.
https://wiki.multimedia.cx/index.php?title=CDXL#File_formatThis player should give enough information about what needs to be written.
http://aminet.net/package/gfx/show/cdxl_playerAudio needs to be 11025/8bits.
Video can be ham8, but you can only use 12 bit palette entries. It's still better than ham6 as you have 256 starting colours with 4 bits per channel and each pixel you can change 6 bits per channel. However it's not as good as real ham8.
