@hackinistrator thanks for your reply and sry for my delayed answer. Leadscrews aren't an option as I have to stick with the rotating movement instead of linear movement of the axis because it drives another belt.
The motors are running at 24V.
Yes, I need 2Nm roughly to be able to move the axle. I have a gear ratio of 5:1 with 1/8 microsteps and two 1.9Nm Motors which leaves me with 3.7Nm left if 19,51% of the max power of the motor is preserved through 1/8 microstepping regarding the faulhaber website.
In theory and in praxis this is enough, the motor is working fine now. Only thing that I've pin pointed is that the timing belt is flexing too much and I am working on a solution for this at the moment.