That seems like a pretty neat project. It reminds me of my cam slider software. This runs on an ESP32, and I bought a board from bart dring on tindie that connects up to some drv8825s. I found a neat library to quickly make simple web controls, which would be great for this project, IMO. It will really make the hardware simpler if you don’t need to make a controller too.
Feel free to ignore me though. I don’t want to lead you far away if you are close to getting your solution working.