Holding position with BLDC or FoC controlled motors is IMHO fairly difficult. Maybe less so in a printer where you can apply current to hold position. We usually do speed or torque control with them. Even with an encoder or equivalent it's tough to run 2 or 3 at once with a single MCU. But yeah that's why I asked about stepper drivers, my day job is FoC motor control and I'm running a pair of 2KW motors with a power board about the size of an RPi with no heat sinks.