Looking for reliable servos for a quadruped robot

Hi everyone, I'm working on an open-source quadruped robot starting from the Spotmicro design. I've made some progresses simulating gaits (using pybullet) and and writing a CLI application for the knowledge transfer. All the code is open-source and can be found in my github (nicrusso7). However, the servos I'm using (MG996R) are very cheap and unreliable.. They don't sustain the robot weight during the gait so I've decide to put my hands on the robot platform design in order to integrate more reliable servos. I'm not really sure which ones I should buy.. any suggestion?