I believe there are the specs for the motors:
Manufacturer Part Number 17HS19-2004S1
Step Angle 1.8°
Step Accuracy 5%
Holding Torque 59Ncm(83.6oz.in)
Rated Current/phase 2.0A
Phase Resistance 1.4ohms
After looking at the documents I changed the current from 2.8A to 4A since there are two motors per channel but that didn’t seem to make any difference. There hasn’t been an noise or vibrations when the motors are on but idle.