ESP Blynk library blocking?

Not at all the case… Everything is possible, but it takes some tweaking and you may lose some degree of really fast Stepper control.

Or even dual MCU control… Blynk on an ESP (or Arduino I guess) for the UI and an Arduino or ESP for the Stepper code… this way the only other “timing” issue you have to share with the Stepper code is the cross MCU link via i2c or Serial.