Yes, just 6 axes.
It depends on the quality of accuracy you need - low end machines often daisy-chain stepper drives but steppers assume the nearest whole step position when energized so any microstep positions are lost and it does not always follow that two (daisy-chained) steppers will always rotate in the same direction when assuming the nearest whole step position so they can get out of sync (only by a few steps) quite easily.
This is not something I would want to do on any of my machines but others have done it.
Tweakie.