It’s little secret that stepper motors are everywhere in FDM 3D printers, but there’s no real reason why you cannot take another type of DC motor like a brushless DC (BLDC) motor and use that instead.

30Nm of torque for $60. Open source is democratizing robot "joints". Introduction — I wanted "cheap and strong joints" January 2023. A project was posted on Hackaday.io. The title was "3D printed BLDC ...