XR-SAM's upper-stage airframe looked identical to the Akash-NG. Although the Astra Mk-2's airframe is also similar.
A SFDR based SAM is being worked. Who knows when that will arrive.
Astra will have much superior performance though, being lighter and smaller. With an initial high speed release, its 200+Km range at altitude can easily cross 250 or even 300Km.
Yep. To intercept a sea-skimming hypersonic AShM the SAM will need to have active thrusters similar to the DACS on the PDV Mk-2. We will also need hot launch set up & jet vane control system. AESA seekers, 2 way data links etc.
Putting them all on one missile will make it pretty heavy though, especially the DACS. We can use the Shaurya to test interception of hypersonic missiles. The Shaurya can't do sea skimming though, but still can be useful for testing. The building blocks are there, a lot of work to do.
Shaurya is unsuitable for this role. For a 500m interception, it will have to leave behind the booster and 1st stage our own deck.

The missile needs to be small and single stage, no different from Barak 8, Akash NG or even Astra.
DACS won't help inside the atmosphere, it's meant for use in space.

