I had another look at this and found that the AccelStepper and FastAccelStepper both work fine with the XIAO ESP32-C6.
I tried both 2 and 4 wire steppers as well… I don’t have a DRV8825 to test on my motors (I use my own drivers) but I don’t see why they should be different?
I didn’t see the 2 second “glitch” and the code that it is caused by doesn’t end up in the compiled project?
I don’t see where that’s mentioned. I do see the C6 is supported however?
BSP’s isn’t an issue, C6 isn’t an issue… perhaps show your project wiring to see if there’s a hardware problem?