I looked at the specs on the page you posted and can’t find the motor dimensions. It confirms that it is 34mm high.
It looks like it has a torque holding of 30N.cm which is higher (and better) than what is listed on the BOM.
What makes me doubt is the voltage and current value: 5V 1A. I imagine that it will be able to move with 12V and that its current consumption will decrease proportionally. I understand that before you had them mounted on a 3D printer, you fed it at 12V?
If so, I think they should work for joints 4, 5 and 6!