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By FEC
#79136 I have tried both yield() and delay(0), and it no longer crashes. The motor makes a notice and vibrates but does not actually move? Would the delay stop it from actually moving ?
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By QuickFix
#79160 With not much to go on:
  • Make sure the GPIO's in your stepper()-method correspond to the correct winding of the stepper motor
  • Make sure that the "Firing order" of the GPIO's is correct
  • Make sure there's enough juice to drive the stepper motor windings
Better first create (or find) a test project consisting of a controller (an actual Arduino or an ESP), two buttons and a stepper motor and write code that will let your motor step CW or CCW depending on which button you press.

When that's sorted, merge it into your (this) current project.