I just came up with a cool alternative way to downgear a 2430 BLDC motor that might work.

Here's a illustration of the cheap downgearing idea:

So basically, I figured what if I could remove the N20 motor from its gearbox/"gear set" by cutting it free or w/e. But I keep its center axle in place cutting away only everything else. You'd then presumably have a metal shaft as a entrance to the gearbox and a metal shaft exiting the top of the gearbox. I then turn that metal input shaft and output shaft into pulleys. I feed my 2430 motor output shaft pulley/winch into the input shaft of each of 4 N20 motor gearboxes, evenly distributing the load. Each gearbox downgears my 2430 motor 150:1. Each gearbox chatgpt said could handle about 5-6lb load but this can't be sudden or fast direction change this is really pushing it. But it seems 4 gearboxes should handle most of what we'd want from a 2430 motor. And the fact we can fit them all within the height of the motor output shaft default length and within the width of the 2430 motor diameter for the most part seems it would be a pretty significant downgearing for very low space taken as the cost. You could even locate a few more gearboxes off the motor anywhere and have those fed further distributing to them the load if only 4 gearboxes was not enough to handle expected forces. The cool thing is supposing we did this, it would cost us four N20 motors which is $0.80x4 = $3.20. That is VERY cheap for a gearbox as I read that a planetary gearbox for it would be like $25-30! And the planetary gearbox would take up WAY WAY WAY WAY more space which is highly coveted in our application - space we can't afford to spare. And the great thing is these little gearboxes you can fit ANYWHERE into a nook or cranny since they are so tiny... and you can use as many as you want to get up to the total forces you need them to handle as a collective. Seems like this could be a cool technique. I want to give it a go. Any thoughts?

Note: this would be something I'd try on the Dinah robot where I'm using metal gears despite the noise these create since its a lower budget simpler robot I'm doing just to get something done faster for a change. My Adam, Eve, and Abel robots will be going pulleys to downgear to make them very quiet in operation as has been the plan forever.