@Arnix I'm not exactly clear how many stepper motors/axes you need to support; is it 5 or 6? Also, you say NEMA 32; do you mean NEMA 23 or NEMA 34? Generally, a Duet 3 MB6HC has 6 stepper driver outputs (up to 6.3A peak current), and can easily drive all NEMA 23 motors, and many NEMA 34 motors (depending on current draw), directly. It can also take a 48V input voltage now. However, you will not be able to drive servo motors directly from it; you will need expansion boards to do that. The Duet3 MB6XD would be the better choice to run external drivers, particularly if you want to run 5 or 6 of them, but then doesn't have any internal stepper drivers.
Duet 2 on it's own is limited to 5 on board stepper drivers (Up to 2.4A peak current). You can expand this with a DueX5, which adds a further 5 stepper drivers. 3 of these outputs can be used to drive external drivers, or you can use the Duet 2 Expansion Breakout Board (EBoB) that provides 5 external stepper driver outputs. A further two outputs are available on the Duet 2 itself, but require extra hardware if the signalling level is not 3.3V.
For more information about external drivers, see https://docs.duet3d.com/User_manual/Connecting_hardware/Motors_connecting_external
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