I'm trying to pick a stepper motor and motor driver. Are these compatible? (TMC2130 & ROB-13656‎)
You are correct, the pair will work well together.
You don't need to worry about the 3.2 V specified for the stepper motor since the TMC2130 is a switching current regulator. You can expect the motor to get quite warm in operation as the windings will dissipate a bit over 5 W averaged together at 2 A peak drive.
The stepper motor at 125 oz/in is a rather beefy unit but if you are going to be using high micro step ratios then you can expect to see only a fraction of this torque around the zero crossings.