Re: Where to put the "resolution"? Pulleys, motors, drivers.. ?
For the ESP32/CNCV3 I generally recommend users stay away from the TMC drivers as they present special challenges. If you're up for those challenges fine, but it adds to the difficulty.
There's still the S109 which is OK and should handle those motors. No SPI interface to wire in, set the jumpers under the drivers and away you go.
Read through the Wiki page before you decide: