Later edit: Actually, some new Stanford work shows how to obtain transparent RSA accumulators using class groups. This was also discussed in Secure Accumulators from Euclidean Rings without Trusted Setup, by Helger Lipmaa.
The Stanford work also shows how to publicly add and remove elements in the accumulator. And the proofs are constant-sized.
Original answer: If you're willing to generate RSA keys in a distributed fashion, then you might as well go for bilinear accumulators, since you can also generate $q$-SDH parameters for them in a distributed fashion and they will be faster for non-membership proofs and also support subset proofs.
Depending on how you squint your eyes, yes, bilinear accumulators have all of those properties.
- No trusted setup: just use MPC to generate $q$-SDH public parameters.
- Publicly updatable: given old set $X$ and updates $U$ s.t. new set $X' = X \cup U$, anybody can simply recompute $acc(X')$.
- Constant-sized witnesses: bilinear accumulator witnesses are 1 group element for membership and 1 group element plus 1 field element for non-membership.
- Witnesses should be publicly-verifiable: in bilinear accumulator they are
- Accumulator updates (additions and/or deletions) should be public(ly made): anybody can recompute an updated bilinear accumulator
- Witnesses should be updatable from publicly-broadcasted auxiliary information: I know membership witnesses can be easily updated in $O(1)$ time after 1 addition to the accumulator. Not sure about non-membership witnesses. However, given the new set $X'$, anybody can compute a new witness in $O(n)$ time.
Hope this helps!