I haven't had any skipping or other issues with my E3D 0.9 pancake motor (set to ~1.2v) on the Titan Aero, however I haven't tried over 60mm/s yet.
With 1.8 motors and 16T pulleys on X and Y it's now at 100 steps (stock 20T is 80), but with 0.9 motors that doubles to 200 steps. On Z with the stock 20T pulleys, four-start 8mm pitch leadscrews, and 1.8 motor, it's at 400 steps (step length 0.04mm), and with 40T pulleys that goes up to 800 (step length 0.08mm, which can cause issues with some common layer heights like 0.2, but that's easily fixed by using something like 0.24 or 0.16 instead). Found a decent deal last night and ordered single-start 2mm leadscrews with anti-backlash nuts. With 40T that's a whopping 3200 steps which is definitely overkill, so I'm going back down to 20T for 1600 steps (step length 0.01mm, which is good for pretty much any layer height).
I think the big decision for people to make is one of money. Buying pulleys is significantly cheaper than motors and leadscrews and you can get a pleasant bump up in quality for next to nothing. I'm willing to spend a bit extra for a little more without going too crazy. I'm also more interested in quality over speed, so that's another consideration one should make.