Recommendations on Upgrading Motors, drivers, MCU

Hi you all, Hope you guys are doing all well.

I'm ready to build a industrial robotic arm(reach is about 1m) to test my torque controller. Here is how it works: 1.The alloy robotic arm shell(body) can be get directly from manufacturer, in which case they have a few different reach&weight combo. 2.I then could buy the motors, drivers, MCU separately. 3.Next i then need to find another manufacturer to customize the reducers so that the i can eventually get the necessary "effective torque and speed" i need as well as fitting them all together with the robotic arm alloy body.

As i'm so much prefer EtherCat over Open CAN or Modbus, i'm wondering if any of you guys have worked with some motor, driver or MCU brand or specific models that you guys are really satisfied with, or are there any pitfalls i should be careful about.

Thanks in advance for the help.