If you compare inrunners like the 23Y206S-LW8 with outrunners like the N5065, the outrunner will always win due the larger airgap diameter for a given outer diameter. But you would not want to use a motor like the N5065 in a CNC lathe or mill, as bearing life of these motors is very short (tiny bearings) and they are hard to keep cool when they are enclosed so no shavings can get into them.
If you compare for example a Nema BLDC and a Nema 2-phase hybrid stepper, the hybrid stepper will always win due its higher field utilization: The reluctance forces add up to the Lorentz forces.
Example: A Nema23, 76mm long motors, exactly the same size and weight:
ST5909L1008-A - hybrid Stepper, peak torque 1.73 Nm, holding torque (rated): 1.27 Nm
DB56 - BLDC Motor, peak torque 0.9 Nm, rated: 0.3 Nm
As a rule of thumb, those Hobbyking ratings can be divided by ~3 to get a realistic rating of the actual torque or power these outrunner motors are capable of in a CNC setup. For example a N6374 which can do ~4Nm with a prop drive for a short time. Or it can do around 1.3 Nm in a CNC setup, where it would be around 75mm in diameter with housing. But the bearings might fail after a couple of thousand hours - or even after just a few hundred if the load distribution of the drive is bad. The above mentioned Nema23 hybrid stepper is cheaper, smaller and more lightweight compared to the hobbyking drive. Cost is about half for the Nema23
I have a couple of N6374 in an electric skateboard and an ebike an i must admit the bearings are not up to the task. The space this outrunner design allows is just too small to fit a properly sized bearing. That’s why i like to use a slightly different design for such outrunners that are nice drives for vehicles. Something with a non-rotating axle like a ebike hubmotor. Check out my belt drive design: https://endless-sphere.com/forums/viewtopic.php?f=28&t=80516&sid=31ed82022cc341ca5355b2bede010c5a&start=175#p1281430
Anyway, back to topic. I think we could use the ODrive to drive Hybrid-Steppers with FOC, i’d like to try it when i find the time for it .