With nema23:
Beings you know roughly what torque you want, my further opinion would be:
You want as low an inductance / resistance as you can get.
You want to go against the grain and use higher voltage drivers like DM860T.
Using a minimum 60vdc on n23/24 sized motors gives you high max velocity.
Something like:
https://www.omc-stepperonline.com/nema-24-stepper-motor/p-series-nema-24-bipolar-1-8deg-3-5-nm-495-74oz-in-5-0a-60x60x97-8mm-4-wires.html
https://www.omc-stepperonline.com/stepper-motor-driver/digital-stepper-driver-24-72a-18-80vac-or-36-110vdc-for-nema-34-motor-dm860t.html
I'm basically using these or something very close to it and haven't been disappointed.