What are you wanting to do specifically? Salt dough isn't fired it's air dry. It's flour and water and a lot of salt so over time it does break down and can also become home to thousands of occupants in the form of mould

And looking at what you want to do I would avoid it.
Darthchiro gave you advice on clay for sculpting but not as a final product. If you are wanting to omit the molding and casting stages (they do take a lot more time and money especially at the experimenting stages) then you could look into a few products.
I'd personally favour sculpting in clay, molding in ultracal and casting in slip latex for something like that at home.
You are using foam for other parts, you could look into using thinner sheets (craft foam) and heat them to shape. It does form very well with heat and you could make the parts in pieces and then use Model Magi over it. It is intended for kids but it is a very light air dry clay that smells and behaves a lot like EVA foam. I found it best to use it as sheets smoothed over shapes as it does not really sculpt well into anything but as a sheet it follows contours really nicely to create a super smooth surface. I used it many years ago so it may be of better quality now.
I do not recommend many airdry clays as they are brittle and heavy and often also will rot over time (being often made of wood pulp and far from waterproof) but this is pretty good for being the opposite of all of those.