Hi Pete,
Our KFLOP+KStep should be all you really need. It includes simple wiring, Voltage Clamping so Switching Supplies can be used safely, 16 Opto Isolated inputs, 2 Relay driver outputs, an analog output, with no heat sink required (efficient 17milliohm FETS).
You might consider these larger motors for the same price since KStep can handle 5A
https://www.automationtechnologiesin...lat-570-oz-in/
The closed loop motors you link to would be better at avoiding stalls but one disadvantage is that they don't output position back to the controller so after a disable or fault position is lost.
Any of the USDigital.com digital incremental encoders should be compatible. Choose the line driver option so you will have the option to connect them to either differential inputs or single ended inputs. See:
Dynomotion Motion Control Boards for CNC Manufacturing and Robotics Applications
HTH
Regards