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Thanks for sharing that. To get started stepper motors are awesome. But when you are ready for servos definitely have a look at those.

One impactful difference between steppers and servos that I didn’t see you mention is the large difference in speed ranges when operating at peak power. Steppers may reach peak mechanical power output around 500-1000rpm, while many servos may not peak until 3000rpm! While a single stage planetary gearbox can make up that difference, low backlash versions can cost hundreds of dollars. When using a ball screw you can accomplish some gearing by choosing smaller pitches, but the tradeoff is a reduced max rapid speed because of screw whip. We’re you able to find servos that peak in the 1000-2000rpm range to match the limitations of ball screws?

I don’t think I did a good enough job trading steppers VS servos on my own build. I chose steppers, partly because I had some laying around, but I think you are right that the pros of servos outweigh the cons if you can find the right size/winding at the right price.