Why does this keep happening

[Roberts_Clif]

Is there a voltage they should be at? They?re 24v right?

No that is the Supply voltage.

The stepper drivers have an adjustment potentiometer this adjusts the V-Ref for the Drivers.
On my Printers one 12 and one 24V system.

I have on the 12v system
V-Ref on X, Y, E0 and E1 ~ 0.695v
V-Ref on Z ~ 1.395v

I have on the 24v system
V-Ref on X, Y, E0 and E1 ~ 0.395v
V-Ref on Z ~ 0.71v

I do not know what 3D Pinter so I will show you a common video for adjusting 3D Printer V-Ref voltage.

https://www.youtube.com/watch?v=XU6lgFeZ7ZQ

You should search for your 3D Printer to be able the adjust your Stepper Drivers V-Ref voltage.

You should have more than enough information of how to adjust the Stepper Motor Drivers.
Though if you have any questions be sure to ask before proceeding.