Running Multiple stepper motors using simpleFOC

Hello guys,
I’m trying to build a parallel scara robot (with active compliance hopefully) that runs on 2 NEMA 17 stepper motors,I’m using AS5600 (i2c) for encoding. I’ve made an interface for sending joints angles for each stepper motors serially. My query is that if it’s possible to handle 2 stepper motors at the same time (from input target angles sent serially) using simplefoc library and achieve active compliance (external force following)?? Can you guys site any references.

Thanks in Advance

My understanding is that if your MCU has enough GPIO lines and processing capacity you can instantiate more than one motor simultaneously