I haven’t looked though the files in detail (and dont have a local copy in vscode to run a search on it), but AFAIK all of the default configs use stream:
[edit: Saw some using RMT… but that requires native esp32 pins so not a broadly applicable solution probably. At least things like autosquare that require tons of pins would probably not be feasible without the i2s… not that the stepper drivers have to be i2s… but guessing esp32 doesn’t have the pins to do 5 independent drivers like that.]