Good to hear you got it working well.
Steppers do get hot, its the nature of them as they are always working even when still. As long as you can still hold your hand on them for a bit then they are probably not too hot. If they are getting hotter then it could be you have the current set to high, not sure how the G540 sets current but with the other Gecko drives you need to set it with external resistors.
Hood

Hi the current set resistor I used was a 3.3k ohm resistor. My motors are rated to 3A per phase. According to the G540 gecko drive instructions you multiply the 3A by 1000. So I am using a slightly larger resistor which might cause a slight reduction in motor performance, but at the moment I am just happy to see some progress.