Update:

I switched from L298N to TMC2130 SPI stepper drivers.

TMC2130 biggest advantages:

• Size
• SPI mode to control coils directly via XDIRECT
• Less wires - now i can control 4+ motors/servos with single arduino nano

My current setup:

• Arduino Nano
• 16CH A/D MUX HP4067 - to get values for up to 16 hall sensors (up to 8 motors 2 halls per motor)
• TCA9548A - to get data from 8 absolute encoders (AS5600 i2c devices)
• TMC2130 SPI drivers

Experimental PCB's

Left PCB for 4 motors drivers, right PCB is a base for motor with hall sensors and mounting holes

Auto calibration finalized, calibration results saved to EEPROM