Stepper motor / driver mismatch?

[JAZZCNC]

I am sure JAZCNC will chime in with some sense.

You'll not get much sense out of me. . . . But I'll chime in all the same.!!

Like been said and you probably know your setup is all wrong. Now without knowing the rest of the machine setup, ie: Gantry size Mass, linear motion setup etc then it's difficult to be exact on what to recommend but a good all round setup for Medium Mass machines is this below.

EM806 or AM882 Drives with 60-70Vdc Like Dodgygeeza suggests are great. Now with your motors being 4 wire then I suspect they will be high inductance and probably series Wound. This will restrict the Torque and speed you'll get at higher feeds. It's also be why you are getting stalling motors with only 24Vdc.
Series wound motors provide more torque at low speeds but quickly run out as the speed rises so require very high voltage to get any usable speed from them.
For this reason on machines like Plasma or routers where often cutting or traveling at higher feeds you'll want motors wired parallel which gives more torque higher up the speed curve.
So I suggest you change the Motors has well for Low inductance 8 wire motors that can be wired in parallel.

EM/AM drives with 65-70Vdc with 4Nm Nema 23 parallel wound motors give a good setup for meduim sized machine. Again this does however need to balanced against the Linear motoion set up and Mass etc which will need to be considered before deciding on exactly what is best.

One thing is clear thou what you have now isn't very good.!